I'm not convinced Legolas or Gimli were that developed really but:
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Aragorn, Frodo, Sam, Eowyn, Denethor, Boromir
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Faramir? Merry? Pippin? Treebeard? Gandalf- taking into account he was deliberately mysterious? Saruman? Grima? Personally I think we learn more about some of them thatn about Denethor, anyway.
However a problem is that very few books have that many characters to develop and it's hard to get you to emphasise with so many. There are obviously going to be some who are more developed- not to be rude but Arwen is hardly central to a narration of LOTR. Her and Aragorn are only a subplot/backstory.
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“Sylphs of the forest,” I whispered. “Spirits of oak, beech and ash. Dryads of Rowan and hazel, hear us. You who have guided and guarded our every footstep, you who have sheltered our growth, we honour you."
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