The Valar had nothing to do with the fate of either men or elves. It was Eru who set the rules for men and elves. To the elves he gave life as long as the earth would exist, their souls would not be allowed to leave Ea. To men he gave the gift of death, and let them escape the world, giving them an escape even in times of extreme need, when all hope seems gone.
Numenor is gone, it drowned beneath the waves in the Second Age. When Ar Pharazon asailed Valinor, Manwe and the other Valar gave up their governement over Arda. Eru then changed the face of the world and removed Valinor and Tol Eressea from the mortal world. In the cataclysm that followed Numenor was drowned.
No, I don't think the valar would allow 'normal' mortals to enter the Straight Road and sail to Valinor and Eressea. That right they gave only to the elves and sometimes to special mortals such as the Ringbearers, and sometimes by chance another mortal might find himself on the Straight Road.
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