If you have quit with them before will the take you back

I left it in a approved drop yard and left the truck way cleaner than i found it

If you have a good FMCSA score, you were not terminated by them, you did not abandon the truck (you left it at a terminal in good cleanish condition), and still have a good overall record, yes.

Yes if you have good records, I was out for 9 months, and got rehired