I watched a movie about Waterloo quite a few years ago. I got the impression that the decisive point was when Von Blucher attacked.
He was 71 and just recovering from a serious wound. He was shown as leading his men, calling them “His Children”. Of course movies sometimes arn’t accurate.
I visited Waterloo years ago. Ironically it was on the Fourth of July, LOL. Apart from the giant memorial mound with the lion statue atop it (made from melted-down cannon from the battle) it's not changed much landscape-wise since 1815.