My intuition is 'yes, of course, but you don't get the opt-outs back'. So no budget rebate, Euro participation etc. Which would be a tougher sell in Britain than otherwise. I expect customs union re-entry in due course followed by single market membership (which is pretty much all upside for the EU side) and long discussions about rejoining the political institutions.
But nothing for the rest of this parliament or the next, probably. Starmer's not bold and/or reckless enough.