Just because he could give someone the slip does not mean that he was better at stealth. Stealth would mean he could remain undetected. Gollum is good at tailing someone and keeping himself from getting caught, but he is not that great at keeping out of sight. Aragorn had known that Gollum had been following them since Moria, so he wasn't that great at stealth.
Besides, Aragorn's journeys into the East were pretty low profile. He would have had to have some good sneaking skills.
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