Elves and men wouldn't have had to become estranged, elves leaving Middle-Earth could have used Numenor as a resting point before they finally left into the West. And I find it hard to believe the Valar wouldn't have realized man's envy of elvish immortality, looking back to Athrabeth, the elves already know Man's thoughts on life and death.
And another thing, what is keeping the elves from sailing all the way back to ME? They go to Numenor and there is nothing particularly special about that land.
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