I think that at least the hobbits came along because of their friendship, but also because they "were meant to go". Gandalf says, that Bilbo was "meant to find the ring", suggesting that higher powers were involved. I think it makes good sense, since Gandalf would be the first to know. It is not by coincidence, that Boromir had a dream, that Legolas came to report that Gollu, had fled at the same time as Gimli came to consult Elrond. They were meant to come together.
And I agree with you, Raefindel that Gimli and Legolas is a great support to Aragorn. It is clear how close they are and how much their friendship means to each other.
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