Thunar allows users to add custom actions to the file and folder context menus, see more example xfce:thunar:custom-actions [Xfce Docs]​.

The following is how to set up a custom action in Thunar for context file restoration:

1. Select Edit and Configure custom actions ...
2. Click on the + button to create a new custom action.

3. Complete the text boxes:

   Name: Restore previous version
   Description: Restores earlier file versions via Deja Dup
   Command: deja-dup –restore %F

4. Select an icon if you want one.
5. Click on Appearance Conditions tab and check all 6 boxes.
6. Click on OK.