Our teacher said the following sentence is not correct but I can not figure out what is wrong with it
Les hommes qui se sont aimés et se sont succédés
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As you can read from this source, we should write:
ils se sont succédé
So the right form of your sentence is:
Les hommes qui se sont aimés et se sont succédé
Succéder à, donc complément d'objet indirect, donc pas d'accord.
You don't see the lack of clarity in "the men that loved each other and succeeded each other" what kind of succession? where does the phrase end? The meaning is not clear, as it uses common vague words to describe particular facts and situations.
Also the phrase is not finished.