The easiest way to open all previously closed windows in Firefox is to configure Firefox to restore your previous session every time it starts. Here's how:
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Access Firefox Settings: Click the menu button (three horizontal lines) in the top right corner of Firefox and select "Settings".
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Navigate to the General Panel: In the Settings page, select the "General" panel from the left-hand menu (it should be selected by default).
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Configure Startup Options: Under the "Startup" section, find the option labeled "When Firefox Starts".
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Choose "Open previous windows and tabs": Select "Open previous windows and tabs" from the dropdown menu.
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Close the Settings Page: Your changes are saved automatically. Close the "Settings" tab.
Now, when you close and reopen Firefox, all of your previously open windows and tabs will be restored.