Is it possible to restore different versions I have sent to the signer?

It is always possible to load whatever version there is ‘pushed’ to the signer. In case the version you want to ‘restore’ is in Shared_Draft, you can just restore is, but please be aware; your possible local changes since the GUID were last sent to the signer will be lost.
The best way to work, is to set a version in Development (which ‘push’ this version to the server), and it is now locked. Then create a new version for further development of the GUID. In this way one can always restore a specific version. In case you have written in the documentation what functions are in what version, it will ease the usage even more.