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Imagine Denethor surviving, getting the bitterness out of his system, and somehow getting along with the new generation... Okay, in Arwen's case, a much older generation. Her birth year is T.A. 241. Actually, Denethor was born in T.A. 2930, and Aragorn in 2931. They might have exchanged memories and grown to like each other? A reconciliation between Denethor and Faramir is difficult to imagine though. Madness or no madness, better stay away from the parent that tried to murder you. That seems an obstacle too high to overcome in one human lifetime.