Go to your settings page and onStartup turn on "Continue where you left off" option. In your browser
chrome://settings/onStartup

[Oct 29,2021 update]
In a command session (your shell of choice: sh, bash, csh, ksh, etc.), find the root PID of your process through
ps -fea |grep -i chrome
this will get you back all the chrome process fired up by chrome, in order to find the root process with one of the chrome processes id do
pstree -pH 515333 | grep -i chrome |head
|-plasmashell(5259)-+-chrome(515311)-+-cat(515317)
| | |-chrome(515328)---chrome(515354)-+-{chrome}(515389)
| | | |-{chrome}(515390)
| | | |-{chrome}(515391)
| | | |-{chrome}(515392)
| | | |-{chrome}(515393)
| | | |-{chrome}(515394)
| | | |-{chrome}(515395)
| | | |-{chrome}(515397)
| | | |-{chrome}(515398)
This will give you the first part of the tree of processes related with chrome (if you want all the processes related with chrome remove head command), select the starting process and do a killl -9, in this case
kill -9 515311
start chrome again and it will ask if you want to restore your session.