The númenoreans are the descendents from Elros and the fathers of men, Atani. They were given the land of Númenorë (Andor) for their efforts in the war against Morgoth during the first age.
Some of them assailed Aman to wrest everlasting life out of the hands of Valar, but failed miserably and they were trapped under falling rock and there they shall lie until the end of times and the last battle, Dagor Dagorath.
A small part of the númenoreans was still faithful to the Valar however, and those were washed up on the shores of Middle-earth, and there founded the kingdoms of Arnor and Gondor. Elendil was their king and his sons were Isildur and Anárion.
Aragorn is probably the most important "link" to the númenoreans, other things related are the "seeing stones", Palantíri, Tower of Orthanc, Elrond, etc..
The stewards didn't become kings of Gondor, they ruled in their place in wait for the return of the king. Eärnur was the last ruling king, but he perished, alas! Decieved by the Morgul King. He had no heir. So Gondor was ruled by stewards, until the return of Aragorn. The northern kingdom had come to an end with the death of Arvedui in 1975.
"Men of the West" are the Dunédain, men of Númenor, of whom Aragorn belonged too. And especially their descendants in Arnor and Gondor. The Men of the South, are the Men of Harad. Southrons.
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Aurë Entuluva!
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