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Is it not possible that Boromir himself refused to take an escort of any kind? To quote Gandalf:
"Boromir claimed the errand and would not suffer any other to have it. He was a masterful man, and one to take what he desired."
Galadriel55 noted this in terms of Boromir's pride, but perhaps he simply desired to go alone and, if any gainsaid him, he stood firm to his convictions. Perhaps he had a noble reasoning like "No other worthy man should be made to abandon the defence of Gondor on my account."
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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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