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To be fair, Aragorn only states that he would have Legolas go with Boromir to Minas Tirith "if Legolas is not willing to leave us," by which I assume he would have been more or less fine with Legolas accompanying them to Mordor as well.
I always took his choice of Gimli as being due to the simple fact that he was a Dwarf and presumably the most likely of all of them to endure the hardships of Mordor - although as of course we've already discovered by this point Gimli is perhaps more delicate than might otherwise have been assumed: "Hard was my parting from Lothlórien."
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"Since the evening of that day we have journeyed from the shadow of Tol Brandir."
"On foot?" cried Éomer.
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