Concerning the aging of the Dunedain we have some information about this in the LOTR. Aragorn at 20 years old was considered early come into manhood and still had not reached complete maturity.
"Elrond looked at him and was pleased, for he saw that he had early come into manhood, though he would yet become greater in body and mind."-Lord of the Rings, Appendix A, The Tale of Aragorn and Arwen
Slightly before this we are given some indication about when maidens were regarded as old enough to wed. Gilraen, Aragorn's mother, was believed too young and was below the standard age of a Dunedain bride. In fact she was so young her father was going to refuse to let the marriage take place.
"To this marriage Dirhael was opposed; for Gilraen was young and had not reached the age at which the women of the Dunedain were accustomed to marry."-Lord of the Rings, Appendix A, The Tale of Aragorn and Arwen.
From previous date we learn that Gilraen was born in the Third Age 2907. She wed Arathron in the Third Age 2929. We can estimate what she was either 22 or 21 at this point and considered below the general age of marirage.
If we look at the works that Tolkien did not publish we have the case of Aldarion. Aldarion only comes into manhood and full responsibility at the age of 25.
Veantur speaking to his grandson says this.
" Anardilya, the spring is drawing nigh and also the day of your full age' (for in that April Aldarion would be twenty-five years old)."-Unfinished Tales, Aldarion and Erendis
Looking at the evidence I think it's reasonable to assume that Tolkien intended for the Dunedain to reach full maturity at 25 and this would be the age where they would be acknowledged and full accepted as an adult. It also appears to be the age where they would usually be permitted to marry.
On the point of Gondorian kings having a beard, it has been many generations since Elros. We know that Elves such as Cirdan and Mahatar were supposed to have beards. The only extensive writing Tolkien had on the subject had Elves growing beards in the third part of their life. I tend to assume that either the kings of Gondor tended to finally grow beards very late in life or that after so many generations some had lost this quality.
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