Re-add existing zigbee device automatically

Unfortunately there is not. The pairing must be still invoked on the device itself.
There is a script however might might help you to check if device is alive (depending of device type) -

or for Zigbee only

Beware of some specifics, eg. lights, unless powered on, send update in between 12-24 hours, battery powered devices sometimes on external trigger only (eg. motion) etc.

As you are probably on HP19, I would also suggest you to have a look on recommendations (if any) provided by this script :

(might not be however compatible with latest HomeyScript)