What happens legally (estate, insurance) if a person presumed dead turns out to be alive (assuming no fraud)?

I’ve always been curious what would happen to someone that was, for example, a prisoner of war or marooned or otherwise assumed to be dead who then reappears a few years later. Would they be entitled to have any property of theirs that was willed to others returned to them? Would a life insurance company have recourse to take back any payment made to family members? Would their former employer be obligated to give them their job back?

What would happen if money they willed to others or insurance money had already been spent?

Does anyone know if anything like this has ever happened before (aside from people faking their own deaths)?

This assumes that there is no fraud or other illegal activity involved.

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