You can restore the deleted item(s) from the Trash at any time you want and here is how:
That is all. The selected item(s) is restored successfully.
That's it. The item(s) you chose is restored successfully.
Keep in mind that the above steps only help if the items you want to recover exists on Trash.
If you have already deleted the items from Trash which you want to restore, then the above steps won't be helpful to you. In such case, you can contact the Google Drive support.
Sign into your Google account and then click this URL. Hit the "Contact Us" option at the top. Hit "Missing or deleted files." Now, hit the support option you prefer. And, they may solve your issue.
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How to Restore Deleted Files and Folders from Google Drive