The Beornings and the people of the vales of the Anduin are of course related to the Eotheod, the ancestors of the Rohirrim, who came south to Calenardhon/Rohan assuredly not in 'forgotten times' but a (comparatively) meagre 500 before the Ring War. And they are quite certainly somewhat related to the Numenoreans in that they are most likely Edain who did either not cross into Beleriand before the end of the FA, or who did not go to Numenor. THis makes these people remotely akin; a relation which was realized by both parties (cf. HoME XII,2,X Of Dwarves and Men and UT - Cirion and Eorl).
The Numenoreans came to ME during the Second Age, and, as the seven ships of Elendil &co, at the beginning of the Third, which was six times as long ago as the Rohirrim.
The fact that Beorn was 'a shapeshifter', and that 'his people had lost the ability to shapeshift in later generations' means that he most likely wasn't the only one, either. I don't see what that has to do with Beren, though. After a time distance of some six millenia, it's a useless thing to contemplate, certainly so among 'commoners' as opposed to a line of kings.
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