To a certain extent. Contested landings weren't especially common historically although there are some examples of raids on forts and the like which it did occur. Usually if you wanted to get an army ashore your ships could move along the coast faster than a full sized army with all their baggage train and artillery could move on land meaning it was hard for an army to effectively intercept you. meanwhile the Atlantic wall was some pretty special in history in its vast size, prior to the 20th century and the industrial capacity that was being brought to bare in that age the ability to construct defences so extensive that they could cover every part of the coast as oppose to defending key locations along it was a difficult task to achieve beyond a very short location of important coast where perhaps a naturally cliffy coastline helped to reduce the number of viable landing areas. So an invading army could usually find somewhere undefended to get at least a foothold ashore without having to land under fire although that isn't always true. And the logistics and casualties involved in such a landing meant that usually if a commander could avoid it they would. So if necessary you'd have an army land somewhere undefended them march overland to take somewhere more extensive landing of supplies and equipment could take place if that was necessary. That's not to say this kind of thing never happened but usually it was in the context of a raid, something going wrong or someone rolling the dice to try something unexpected.

But where it did happen there was some preparations that where sometimes used. The landing vessels themselves were relatively simple, usually they were just relatively large rowing boats, sometimes they would be simply the normal ship's boats reused for the purpose and sometimes they'd make some specifically for the purpose which maybe designed to carry more passengers that weren't rowing. Sometimes they were given things like swivel guns, very small cannons on a pintle mount that could be loaded with something like a small ball shot, grape or canister that could be used to fire at targets on shore as the vessel was coming in. But beyond that they weren't particularly specialised.

For the artillery often they could rely simply on the normal cannons aboard warships. A large enough fleet could bring some serious fire power to bare if they anchored up their broadsides to face the enemy and with some good gunnery and enough guns they could suppress shore batteries potentially. But if you only had smaller vessels and/or less of them on hand an enemy shore battery presented a serious threat, they could well have larger guns than all but the largest ships of the line meaning they could well out range and hit hard against something like a frigate. They could more safely use things like heated shot, placing cannon balls in fires to heat them till they where glowing hot and fire them out to start fires which would be risky for a ship to do and less likely to have as much effect being fired at a fort than the other way around. The gunners on a shore battery would have a more stable platform to fire from making their job a fair bit easier. Finally well designed fort would be able to take a fair bit more punishment with a lower risk to the gunners than a ship could take punishment without much risk.

As part of suppressing such shore batteries some more specalist vessels where created for the purpose. These where vessels with powerful siege mortars mounted on their decks. This had been historically a difficult thing to make given that most cannons can be allowed to recoil on their tackles blunting the force of the recoil on the ship itself but a mortar's high angle of fire means the force of the recoil has to be directly taken by the deck itself. But specialised vessels strong enough for that task were constructed. This high angle of fire and the explosive or incendiary rounds they used as opposed to the balls of a normal cannon allowed them to drop their shells onto enemy defenders, and shore batteries and forts in particular, allowing the attackers to attempt to drive the enemy back from defending too close to the landing beaches and killing or suppressing the fire from enemy cannons.