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Most of the costumes in the show are very, very good tbf. It’s something they generally did well. Same goes for the props.
I also wouldn’t really compare heavy “in battle” armour against some more casual armour that he wore off-duty.
E: Here is Elendil’s battle armour, which is probably a more apt comparison to Boromir’s heavy armour.
Orcs, Goblins, and Hobgoblins are all terms used by Tolkien, but they all refer to the same beings and are used interchangeably.