I was intending to add to similar topics about a files fixed rotation / toc history etc. however this one is more specific to the session history.
There have been requests to disable gobackto history as it causes problems with touchpad scrolling. But here you wish it stored between sessions, there was an experimental means of storing jump locations in the smx files which are no longer used, also there were attempts at a “virtual” bookmarking system that could have replaced favourites, but that also had issues.
Whilst it may well be possible to store a stack of pages visited, in the current single settings file, it too would rapidly build up undesired by many users “enhancement” entries, leading to more requests for “On/Off/Maybe” feature creep
AFAIK the step back in visit history function is part of core MuPDF viewing library, thus as it stands is easy to implement, but enhancing it to retain history needs somebody willing and able to add all the necessary robust code, with the normally expected demands for more whistles and bells on that.