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And here are some that I've tried recently but not ended up liking:Undo Closed Tabs Button: only allows you to undo the most recent one; I was hoping to get a more easily accessible Menu than having to go through the History menu.

Try Tab Mix Plus.

I like it for the way it lets me control and unclutter the tab bar, as well as the way it gives me super-precise control over every mouse action related to tabs. But it also has an extensive undo-closed-tab feature, including a full session saver (restore all the open tabs you lost after a crash). See if that meets your needs.
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Tony Fabris