Boromir comes from Minas Tirith in Gondor. Rivendell lies far to the North of Gondor, while Harad (where the "bad guys" live) lies to the South of Gondor. When Aragorn tells Boromir that the "men of the South" are welcome, he means "men of Gondor" since Gondor lies to the South of Rivendell (just not as far as Harad).
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