Unless I haven't overread something, there was no messenger or whatsoever sent to the first Men. Then again, the Valar only found out about the Elves by chance, so maybe they didn't know about Men before it was too late, because they didn't go to Middle-earth regularly anymore. Later the Valar couldn't have helped Men against Morgoth without helping the Noldor as well. Obviously they weren't particularly good at swallowing their pride.
I think that they didn't intentionally neglect Men, but that it all was just a lot of bad luck and maybe shortcoming of character.
As has been said, the Drowning of Westernesse was not the Valar's deed. I don't see what they could have done either. But it casts an ambiguous light on Eru, I think. Numenor was a gift to the Edain of the first age. Their descendants rebelled against the Valar, so Eru surely has a good right to take it from them again. But he killed everyone on it who didn't have a ship prepared perchance, and that was cruel.
I think we agree that the unfaithful Numenorians deserved punishment. Death? If there is one person who is able to judge that, it is Eru.
If he had let the women and children live (in Numenor or Middle-earth), history would have repeated itself, I'm sure. So, judge each individual and only kill the wicked? Leaves a weird feeling in me.
Maybe judge each individual, withdraw the gifts that the Valar once granted to the Numenoreans from the guilty and banish them from the isle, therefore making them no better than the average Man of Middle-earth? Not sure whether this would have been wise. But maybe Eru just wasn't wise in the moment? Maybe he was just angry about these people who received more wisdom etc. from the Valar than any other Man and still weren't satisfied and turned to evil to have more? Maybe he thought that even the Faithful would, after having multiplied, turn to evil eventually? (if I read the Silm correctly, it was the Valar, not Eru, who helped the Faithful escape)
Whatever the case, the drowning remains a deed that, in my mind, was unjustifiedly cruel and overshot the mark. Was it justified? I don't think so. Is it understandable? Maybe.
Concerning the warnings, I think the reaction of the Numenorians to it shows more of the paranoia of the people than of their actual peril. I doubt even the Valar knew what was to come when they laid down their supremacy.
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