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Tolkien wrote somewhere that Glorfindel, after his death to Gothmog, while still recovering his spirit in Aman, became friends with Olorin.
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I speculated whether Glorfindel knew too. He definately learned a lot from his death, and I find him to be one of the more reliable sources in LOTR. I find his statements in the Council of Elrond, although speculation, to be rather accurate.