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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.
Rhaegar was the first born son of the Mad King Aerys Targaryen, and therefore heir to the Iron Throne. Perpetuating the family line is always of the utmost importance in Westeros, and while typically Targaryens married within the family, there were no Targaryens of age for Rhaegar to marry.