Actually the Dwarves believed each successive Durin to indeed be 'the Deathless that returned'. Whether or not that was true is totally unknown.
Mortals were indeed banned from the Undying Lands. Gimli was allowed to go over Sea because of his love for Galadriel. She was of the great among the Eldar and was apparently able to obtain permission for Gimli to do this. It was a unique occurance though. Dwarves and Elves continued to dwindle in Middle Earth after the Dominion of Men began and I doubt there would have been another opportunity for other Dwarves to go even if some were special friends of the Elves.
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Music alone proves the existence of God.
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