Frodo and Gandalf assuredly went to the Undying Lands. Sam followed them later, and Gimli and Legolas built a ship and - I assume - made it all the way to immortal shores. Pippin and Merry, however, did not, nor did Boromir or Aragorn, unless you refer to the Halls of Mandos, where all Children of Iluvatar go when they 'die.'
~Sparrow
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