It is not unheard of that the common people of two nations, that live close together and have to deal with eachother in daily life get along fine, while the official stance between the countries/regions/people is less friendly.
Legolas' royal descent could be the problem here. I would assume he was raised with all protocol, traditions and history of his people. This would probably influence his view on dwarves. The same could be true (though to a lesser extent(?)) for Gimli.
Just my 2 cents..
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