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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.
While King Robert Baratheon despises and accuses him of having raped Lyanna Stark, the only thought of Eddard Stark, Lyanna's brother, that is mentioned in the books is that Eddard did not think Rhaegar frequented brothels. Ser Jaime Lannister still remembers the iron tones of Rhaegarâs voice.