It should be remembered that Imladris is hard to find even if you know where it is - Gandalf struggles a bit in the Hobbit and I imagine that Boromir in the last stages of his journey was probably spotted and brought in by scouts - we know that theu were expecting Frodo and probably kept some kind of watch over the moors generally. I doubt many strangers reached Imladris unescorted by elf or Dunadan. Legolas would have come via the mountain pass and the path from that must have been guarded or concealed.
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“But Finrod walks with Finarfin his father beneath the trees in Eldamar.”
Christopher Tolkien, Requiescat in pace
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