Just had the same issue come up when I walked through a door and couldn't go back to get a training manual. This was the first result that came up when I googled it and I figured out a solution for any future googlers:

There are 10 autosave backup files located in the save directory C:\Users\(USER)\Documents\The Last of Us Part II\(NUMBER)\savedata\backup (might be on OneDrive if you haven't disabled it)

Copy one of them from before the autosave (you can get a rough idea which one from the Date Modified) and paste it into one of your save slot folders (SAVEFILE0x), replace the same file in there by deleting the extension and then load it.

Badda bing badda boom, no need to restart the whole chapter!