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I think she did love Rhaegar. Lyanna is not Sansa so she is unlikely to have fallen for Robert because he was this handsome rich lord the way Sansa did for Joffrey. She saw that beneath the handsome exterior Robert would not be a loving faithful husband. He would make a good friend but a terrible husband and father.
Prince Rhaegar was the firstborn son of King Aerys II Targaryen and Queen Rhaella. He was born at Summerhall in 259 AC, on the same day as the great tragedy there. As a child he read obsessively, to the point that jests were made about his habits.