I've met Relson a few times, great AND intense guy... I think that because he's one of the oldest of Helio's kids (and a great teacher to Rickson), by the time the UFC started, and Rickson did his fights in Japan, he was already up in age and passed the "let me be the family representative" guy (that fell on the kid brothers).
Rolls was already dead for about 15 years before UFC 1, and his stories were legend (he tuned Rickson up when they were younger).... It's our instructor's instructors who where the ones who told tales of him.... Guys who learned from the guys who taught the original "Dirty Dozen".... But sadly there aren't enough people who modernly trained with his "guys".
True story, there was this guy about 10 years ago (I was a purple belt at the time), that was claiming to be a black belt (he was a few years younger than me) who was telling people that he trained with Rolls Gracie..... I was like "does he mean Rolles Gracie?" and his students (he was teaching a few people supposedly) were like "no, he always corrects us on this, he said Rolls"...... This was an American guy who would have been like 3 when Rolls died..... That motherfucker got laughed out of town.