Yes, this is possible.
To enable this:
With this setting enabled, drivers who go on a break (set to Away) will rejoin the queue when they return.
How queue position is restored
Queue position is not stored as a fixed rank (e.g. 1st, 2nd, 3rd).
Instead, it’s based on the time the driver originally entered the zone.
When the driver returns, their original entry time is restored and they re-enter the queue based on how long they have been waiting, not a fixed position.
Example
If a driver entered the zone at 10:00 and took a break at 10:10.
When they return, they are treated as if they’ve been waiting for 10 mins. Their position will reflect that waiting time relative to other drivers.