I have seen photos of both black and white tactical signs on dark yellow. I've also seen photos of SdKfz 251s with the Motorized Rifle tactical sign (i.e. the stylised truck), so including these is appropriate (although it seems illogical, given they would be Panzergrenadiers). The tactical signs were simplified in 1943, and the correct signs for the 1943-45 period (during which the Ausf D was in use) are as per the chart in Laffe's post. That means the Armoured Engineer signs on the transfer sheet are correct. Armoured Infantry signs would probably make more sense, in which case they should be the same minus the arrow on top, as Laffe said.
It's a nice set of decals. I assume you decided not to include divisional signs? They might actually be more useful than the tactical signs, which seem to have been increasingly rare in the late war period - at least on half-tracks. Just a thought.