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I don't think Rudolph and Floyd are unusable; I like Floyd and Rudolph's not bad either-- they both feel a little more interesting and exciting that Stephen and Martin.

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I guess if you're totally against using their middle names, I'd pick the deceased father's name-- surely the living one will understand wanting to honor the dead, and you can always use the other name on a second son (if you have another).

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You could also consider using two middle names, perhaps burying the "unusable" (they're not) middle names.

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David Martin Rudolph
David Martin Floyd
David Stephen Rudolph
David Stephen Floyd
(I don't know which middle name belongs to which first, so here's all the possibilities).

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I also thought about David Stephen Martin or David Martin Stephen but I don't really like the flow at all

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Rosalie Evander Larkin
Pax Nocturne Silver
www.behindthename.com/pnl/59411