I always thought..
there was an implication in the poem that she died years later. Notice how she's not mentioned in the last stanza. I think the "earth's daughter" thing is a reference to origins. Humans originated on Earth; the Elves are from Valinor- no longer "part of Earth"- but separate from the visible world, and no human, hobbit, or non-Elf/Maia/Vala can go there without special permission. I read the original 1934 poem somewhere on theOneRing.net, which ends with her rejoining her family, parents, siblings, cousins etc, and its implied that she was only briefly tempted to leave.
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"Firiel looked out at three o'clock,
The grey night was going"
- J.R.R. Tolkien, "The Last Ship"
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