Pippin, in the streets of Minas Tirith is hailed as an Ernil-i-Pheriannath -- 'halflings' being known of in principle, but most people not having seen one even in cosmopolitan Minas T.
I frankly don't believe there hadn't been a couple of Tooks per generation making it to the centre of the known world in their peregrinations (sorry!), but that's not inconsistent with 99% of the city being surprised to see one.

I'm sure Elves and Dwarves were more well known to the Gondorians -- from songs and tales that give them more detail on them at the very least. I suspect an Elf or a Dwarf wouldn't have to be assumed to be a prince(ss) of their folk, if they were to be seen in the same circumstances.
But would it be likely that Elves would ever walk openly in the lands of Men, or that Dwarves (especially after the Balrog's diaspora) might go around building bridges and keeps for Mannish clients?