I'm sure you'll get some better answers soon, but I can tell you that yes it IS possible, and pretty much always has been, but I don't believe the answer is within Firefox itself. It's been a long time since I did a fresh install and had to set it up, but I do remember having to make some changes in my desktop to get IT to remember the location of closed windows. In my case this was actually a change to a hidden config file and not something I could get to from any GUI settings manager, but maybe this is enough information for you to modify what you are searching for to find the answer for the desktop you are running. (My solution was for the Mate desktop, but I think Ubuntu uses Unity by default unless you selected something else?)
this post was submitted on 18 Aug 2023
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Ubuntu hasn't used unity for years and years. It's gnome with some extensions now.
There is an extension to move apps to a given workspace, but a static one. Not the "last used".
Ah ok, I never kept up with ubuntu. I'm using the Mate desktop which is based off of Gnome, seems like there should still be a method of remembering where the windows were located? On my system I have eight firefox windows open across two monitors and three different desktops, and it puts all of them back in the right place every time I restart. But yeah, the exact HOW of setting it up I don't remember.
Does CommanderKeen's answers make sense? Sorry, I don't know enough myself to help.
https://forum.endeavouros.com/t/firefox-window-placement-in-workspaces/28000/3
I just tried Smart Auto Move and while it did move the windows to separate workspaces it put them in the wrong workspace. I see that it mentions its optimized for static workspaces so maybe that's the issue. I'll need to see if I can fiddle around with some settings to get it to work properly. Thanks!
It just works on archlinux + kde most of the times.