I've tried several similar extensions originally taken from the Chrome Web Store, because they offered a number of nice features such as pagination or a search filter, but none worked properly with Firefox.

This extension has no such issues. It not only reopens the tab as requested but it also retains the past browsing history so you can keep navigating back. It also integrates well with Tree Style Tab, in that a recovered tab goes back to the exact position it had in the tree before it was closed.

If there are any things that could be improved it would be to replace the outdated screenshots on the Firefox Add-ons page and to disable the context menu on the popup panel.