To change the hotkeys for tab swictching you can get SwiftTabs, an extension for firefox, it can be found Here
You can change it to what ever you want, I have mine set at left arrow for going back a tab, and right arrow key for going foward.
(although i think you meant browser through your history).
You can also undo using ctrl z in firefox with everything, and if you want to undo closeing a tab, you can get that Here.
As with going back and forth throgh history, the only hotkey that I know of is hitting backspace to go back.
They do have an extenion for mouse gestures, I have never used it, but you can set it so every time you make a movement with your cursor across the screen, It could go back a page. That can be foundHere.