Rommel was more offensive that defensive. His defensive skills were nothing to go writing home about, in my opinion. He was no better in the defence than any other General Staff members.
He didn't perform as the defender of Fortress Europe. Had Rommel listened to Guderian in April 1944 then it might have gone a lot different. Rommel was offensive, not defensive. Kesselring knew how best to make use of the terrain.
The best German generals were Guderian, Kesselring, Balck, Manstein and Rommel. Although there's many other lesser known generals that deserve much credit.