Given a locally Euclidean (locally homeomorphic to some Euclidean space) subset $X\subset\mathbb R^n$ and $p\in X$, let $\widetilde{\mathrm{T}}_pX$ denote the tangent set of $X$ at $p$, namely the set of derivatives of differentiable curves in $X$ based at $p$.
Suppose for all $p\in X$ we have that $\widetilde{\mathrm{T}}_pX$ is a linear subspace of $\mathbb R^n$ of dimension $\dim_pX$. Does it follow that $X\subset\mathbb R^n$ is an embbeded differentiable submanifold?
Added. Here's a thought. Perhaps we can locally construct an exponential map which is a diffeomorphism between a neighborhood of the tangent plane and a neighborhood of $p$ in $X$. Using this diffeomorphism we can move between a differentiable structure on $X$ and the differentiable functions defined on the aforementioned neighborhood of the tangent plane.
