I think that both The Undying Lands and Middle-Earth were supposed to be "Heaven", but since Morgoth poisoned ME, it became something like our earth.
It seems that the place that looks most like Hell is beyond the outer circles, where Morgoth is send to as a punishment.
As for humans, it is stated somewhere in the Silmarillion that the spirits of Men after their death goes to "The Timeless Halls", where they are to be together with Eru.
That is why death is called the "Gift of Men", because instead of staying in Arda after death, Men goes to Eru.
I don't remember where in the Silmarillion the Timeless Halls are mentioned, but it is something similar to Heaven.
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