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I believe one key aspect that is a factor in Gandalf returning is demonstrating that the Valar are extending a hand of fellowship, so to speak, to men; specifically extending their hand of friendship again to the remnant of Numenor. Numenor, initially had the friendship and grace of the Valar and that is what made them great. Aragorn needed a hand extended to him if they were ever to be great again. Gandalf was sent to aid man, which he did and wouldn’t have been able to had he, alone of the Istari, not completed the task that was assigned to their order.
Secondly, and along the same line, Aragorn wasn’t fully ready to become king. He had too much self doubt. Gandalf, by his return, was able to alleviate that. To me Gandalf the White needed to return to make sure that men were put on the right path.
This is brief but it’s a couple of the thoughts I’ve had.
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“I wish it need not have happened in my time," said Frodo.
"So do I," said Gandalf, "and so do all who live to see such times. But that is not for them to decide. All we have to decide is what to do with the time that is given us.”
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