Have you not heard the story of Ælfwine?

He was initially the fictional narrator/author of Tolkien's works, later just referenced as a character. Born in the late 800s(by our reckoning) England, and he learned of the story when he was the first human who sailed to Valinor in thousands of years. He is a distant descendant of Elves which probably helped, but at that point most humans probably are related to them.

It was left out of The Silmarillion, but is mentioned in some other works released by Christopher.