I think that the reason these Elven ships didn't founder is that Ossë himself taught the Teleri how to build ships, and since he is the "Maia of Storms," he'd know how best to build ships so that they won't sink. The art of ship-building passed on through the millennia, and I'm assuming Legolas must have learned it from Cirdan or somewhere else. I don't think that those ships would founder. After all, Ossë loved the Teleri and the Falathrim, he wouldn't let their ships founder. As for Legolas and Gimli, I'm sure that they had special permission to go to Valinor (especially for Gimli) and thus, had a sort of diplomatic immunity.
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But Melkor also was there, and he came to the house of Fëanor, and there he slew Finwë King of the Noldor before his doors, and spilled the first blood in the Blessed Realm; for Finwë alone had not fled from the horror of the Dark.
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