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Aragorn was starving--not for food, which they had in quantity (though if the hobbits kept eating, not for long), but for touch.
He watched the hobbits wrestling with Boromir, Gimli's affectionate teasing and tugging at Legolas's braids--even Gandalf showed affection through touch. Yet none of them touched Aragorn.
He had gone without that simple comfort for so long, forgotten how it felt. The night Boromir sat with him at watch, and laid a comforting hand on his shoulder, he felt as if he'd had a banquet laid out in front of him... and could do nothing but stare.