Yes, that's the genius of Tolkien. He puts forth this grand epic tale of great deeds of mythology, but makes it very personal and shows it through the eyes of the simple man (or hobbit).
That scene where the soldiers from Southern Gondor march into Minas Tirith is one of my favorites too. You have to wonder what they are leaving behind. What are their houses, and towns, and families like?
Tolkien makes you feel this friendship with them for their loyalty to Gondor and their self-sacrificial courage in leaving their homes unprotected in order to come defend the capital city. Makes me want to hug them and call them "dear brave things."