WordPress has a function called url_to_postid
that may work in this situation. You can try the following (untested):
<?php
$url = htmlspecialchars($_SERVER['HTTP_REFERER']);
$back_id = url_to_postid($_SERVER['HTTP_REFERER']);
if( $back_id > 0 ){
$back_title = get_the_title( $back_id );
echo "<a href="https://wordpress.stackexchange.com/questions/211840/{$url}">Go back to the {$back_title}</a>";
}