Glorfindel's reincarnation is not a "theory" - it's fact. Tolkien even wondered himself if Glorfindel was considered one of the Istari, but decided he wasn't. However, he did return to Middle-earth as stated - one writing has him arriving with Gandalf; in another has him arriving late in the Second Age.
Check out this site's Middle-earth FAQ. Sharku has written an entry about this.
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...take counsel with thyself, and remember who and what thou art.
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