Two of my cousins served that day; one cousin was in the Army and the other in the Navy — at Omaha Beach, I believe.
Both men, in their late teens and early twenties respectively, came home physically whole, but they were never again whole psychologically. They refused to speak about what they experienced there, but we all knew that what they did and saw was horrible because they had nightmares for the rest of their lives. Nonetheless, they were among two of the staunchest patriots I have ever known, and they often said, "No regrets!" [about serving].
Both of my cousins died young: one at age 39 and the other at age 44.