Tab History and Android Gesture Navigation

I recently got a new phone running Android 11 and gesture navigation is the default setting, vs buttons. I’ve really taken to it but there’s one thing I miss: Tap & hold the back button while in Brave to see a history of the current tab (only). I used that a LOT on my old phone and I can’t find a way to do it on the new, without going into Settings and turning on button navigation.

I want to keep using gesture navigation while still having that function. Switching to button navigation every time I use Brave then back to gesture when I’m finished is way too cumbersome.

Am I missing something? If not, can the current tab history somehow be made available when gesture navigation is enabled?