The Elves had long foresight, Galadriel or Elrond would have made provision for Sam, the reason being that by that time Bilbo would have died and they would not have wanted Frodo to be the only one of his kind on Tol Erresea. Sam was given permission to go on account of him being a Ringbearer, the Elves didnt leave all at once, and the lifespan of a hobbit is very little time for an elf to wait. To finish Tolkien may even have told you that there are still elves amongst us today.
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