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Well Gandalf dosen't even appear in Middle Earth for another 1000 years after the Last Alliance (He comes from Valinor sent by the Valar.) Glorfindel probably came with him. As for Legolas and Haldir, they may have been at that battle, we're not told, they may not even have been born at that point. On a side note Legolas' grandfather, Oropher was at the Battle of the Last Alliance.
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