They are
Aragorn is a distant desendant of Elros, the first King of Numenor, Elronds brother. Arwen is Elronds daughter so they are related.
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“That's the only place in all the lands we've ever heard of that we don't want to see any closer; and that's the one place we're trying to get to! And that's just where we can't get." - Sam
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