Very true. This action by the 10th Army was the first seperation of a Panzer corps from the infantry for use as a spearhead (very blitzkriegesque). But in the end the infantry does need to occupy gains.
As we will see in May the 1st Panzer Division along with the other Panzer divisions used as spearheads compensated for the need to occupy gains by motorizing infantry to keep up with the spearhead (including motorcycle infantry). Though if I remember correctly they did use the 10th Panzer as the sole protector of the Sedan bridgehead for a short period of time (I'll have to double check that).
This will be a recurring problem for the Germans throughout the war. The Panzers are very good at opening holes and dashing through them, but get exposed repeatedly because the foot infantry with their horse drawn artillery labor to catch up. In France it will lead to several “stop” orders to the Panzer units in the dash to the Channel and envelopment of Dunkirk.
In the USSR they will cut off entire groups of Soviet armies, but without enough infantry the cordon is too loose and many Soviet soldiers will infiltrate back to Soviet territory to fight again, or melt into the woods to become partisans.