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The basic reason, Gwaihir, is that that's the Gift/Doom Eru placed on them. All other maybe's are the result of Eru's purpose.
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And what form did the Doom take? That Men's feas don't wish to stay on the Earth; instead they seek further. Just as Elves and Elves alone can 'key' their way into the Undying lands, so the souls of Men and Men alone can key into heaven. It's an essential nature thing that you can't change (unless Eru wishes it to be so).
When I said 'more a part of the Earth' I meant that Elves love the Earth more than Men, thye find more joy in it; and their essential nature is to stay with it till the end.