Boromir may not have needed to die... but that doesn't mean that he can't. When there is fighting, people die... sometimes the author may just put it in without a point. Although, it is interesting to note that every good guy (at least good at some point) who desires the ring (Boromir, Saruman, Denethor) ends up dead.
Also, Boromir accepts Aragorn's leadership of the company, and seems in the end to treat him like the king he is. Maybe this would have changed had they gone to Minas Tirith however.
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