could any of the kingdoms at middle earth attack the southern continents?

[tom the eldest]

Now,im somebody get mad at me,im sorry but i just love asking this kind of question.

Now,we know that numenorean do colonise some places there,but no further mention of it.so if the numenorean are able to colonise the lanf,could the kingdoms of middle earth do so?i mean if there southern kingdom are declaring an assault on middle earth,could the the middle earth kingdom counter-attack?(in this scenario there is NO sauron,no nazgul,just a palin old mordor with lots of orcs in it)