American Manufacturing never left. Total goods manufactured in the US peaked in 2018 and 2019. It dropped during covid but has returned to those levels now.
Of course manufacturing jobs left. Replaced by automation. A much smaller number of people are making things. Americans have moved on to Services jobs (many of which are poorly paid) and Knowledge Worker jobs (many of which are highly paid.)
Even industries that are traditionally thought of as solid blue collar (Boeing, Ford etc) are producing more, but with way fewer people.
Fundamentally of course, automation is cheaper, and more consistent than human labour.
Naturally the US does not make everything. Nowhere does. Some industries resist automation. Construction and some agriculture crops spring to mind. The high cost of US labor makes these attractive to foreign labor. Mexico for example produces 80% of produce that is cultivated or picked by hand.
Incidentally foreign labor doesn't have to be executed in foreign lands - the primary industries for undocumented (and hence cheap) labor in the US are agriculture, construction, child care and so on. Things that cannot be automated.
(On the agriculture front, the major outputs are crops that can be automated, thing wheat, corn, chickens, pigs etc. The major imports are things that are more labor intensive to harvest, like vegetables and flowers. )
So no, factory jobs are not coming back. Because they were replaced with robots, not foreigners. You may see local production increase though as more robots come online.