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Please fucking don't. Think long and hard about why you left in the first place - you probably had a good reason.
Not all departures are due to bad things. Sometimes you want to pursue a different area of focus and your current company doesn't have an opening like that. But maybe a few years later they do.
There are many scenarios to leave a company - in yours you were denied an avenue for self development and if the company has done that once they'll do it again.
Not all companies are good. If one is shitty enough for you to abandon the relationships you built there it isn't worth going back to.
I left my small company to go work for a large company since my career has only been in startups and I wanted to see how they do things at a 10k+ employee org. If I end up hating working for large companies I'd consider going back to my smaller company. Not all companies are shitty and not all departures are a burned bridge.
I didn't say we always needed to burn bridges. In fact, I don't think you should ever burn a bridge. That's a rare scenario where you might want to return... but I'm also curious why you wanted to see how they do things at 10k+ orgs when you were happy at your current employment - that seems like quite the leap of faith to take when everything in your life was perfect.