I agree, Hama was entirely in the right, and Aragorn did yield on the point. It hadn't occurred to me that it might have been a ploy to let Gandalf keep his staff--by drawing all the attention to the "Heir of Isildur" and his legendary sword, it's easy to downplay Gandalf's staff as just a walking stick. However, I have one nitpick:

He is not generally referred to as heir to the throne of Gondor or whatnot in the book; he is a claimant to Gondor's crown (via a long-rejected and disputable ancestral claim) who fully believes in the righteousness of his claim

Arvedui's claim was rejected. However, Aragorn is also descended from the Kings of Gondor by way of Firiel, Arvedui's wife and widow. By Numenorian law, inheritance through the female line is entirely valid.