It’s possible, I’ve done it. I can never remember the exact folder and files.
So, my process to find them is using Sloth app (could also use Activity Monitor but it’s not as easy) to see what open files are being used by Safari.
Here we go (to restore: I quit Safari and then Time Machine restore either all the SafariTabs* files, or the whole parent folder - can’t remember which!) in Sloth you can right click any one of these files and do a Show in Finder, then invoke Time Machine using the Finder toolbar cog button, which makes the whole process very easy.
ps: recent Safari versions will let you reopen whole windows worth from the History > Recently Closed menu, if you haven’t already closed Safari. I’ve used this too!