As others have said, Aragorn was anything but a pain. Who else would have led the fellowship?
Legolas - Just because he is a prince it doesn't make him a natural leader. Some princes are right idiots (look at Britain's history for instance)I'm not saying he is but he really isn't leadership material. He hasn't had the training.
Gimli - Dear God no! He would have refused to enter Lothlorien and would have circled it and been caught my Orcs. If he got past that he would have probably taken them to Erebor or something. (OK I'm jokin) but Gimli has got too many prejudices.
Boromir - We all know what would have happened there.
Hobbit of some description - They would be able to.
Aragorn was the perfect guy next to Gandalf. He had great knowledge and wasn't proud (like Boromir).
Being heir has nothing to do with it. He was just best for the job!
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