Welcome to the Forum @Joshua_Montemayor 
and thank you for reaching out.
We currently don’t have a specific undo function to restore these kind of deletions but please have a look at this guide article that explains how to restore deleted items: Task actions: create, move, duplicate, and more | Product guide • Asana Product Guide
We also have a thread regarding this topic in the #productfeedback category. If you haven’t yet, feel free to add your vote and comment to it: Improve Undo function so you can undo actions anywhere any time
Have a nice Tuesday!