I think Elros chose humanity because he needed something with a future. The elves, in decline and slowly passing to the west, were not as vibrant as men, freshly established in Numenor. By Choosing mortality, Elros gave himself as the founder of a line that would provide the dynamic leaders of men, in whose hands the future of middle earth lay. Elessar, Elendil, Pharazon,Isildur, all the Kings of Numenor, Gondor, and Arnor are descended from Elros- it could be argued that he had a much greater impact on the fate of the world than Elrond. I think he made a good call.
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