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aragorn didn't return from any where but when his father died he was susposed to be king and he didn't want that power and he returned by the thought of that he changed his mind and returned to his rightful place as king
There wasn't any kingdom for Aragorn to be king of when Aragorn's father died. That kingdom had been destroyed generations before, back near the time when the Witchking was in Angmar and before he became the Nazgul Lord. aragorn didn't return from any where but when his father died he was susposed to be king and he didn't want that power and he returned by the thought of that he changed his mind and returned to his rightful place as king
Aragorn and his fathers before him were merely in direct lineage of Elendil via Isuldur, and they could rightfully claim the defunct northern Kingdom of Arnor, but they did not have the manpower to reinstal or hold it. In fact there were probably fewer than 50 Dunedain left in the north as Halbarad could only find 30 others to join with Aragorn after the destruction of Isengard.
Being in direct lineage of Elendil, Aragorn could also accept the Kingship of Gondor were it offered.