Customizer preview URL not updating when settings reset to default

I managed it by adding this conditional:

if (performance.navigation.type >= 0) {
                api.previewer.previewUrl.set(api.settings.url.home + '?page_id=' + pageID);
            }

This takes care of all the navigation possibilities. It’s sort of a workaround but it does the trick.

MDN Web Doc:

PerformanceNavigation