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I love them both. Though I think you should go with Imogen because you and your husband prefer it and it would be your daughter not their's. Imogen Elspeth would be a very nice combo in my opinion, although its not I your list, I think it might satisfy everybody.

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IMogen Alice is lovely, and I definitely see it as a good choice. For Elspeth I would pick Anne for the middle name, because the -eth and -iss sounds clash.