How do I “un-revert” a reverted Git commit?

git cherry-pick <original commit sha>
Will make a copy of the original commit, essentially re-applying the commit

Reverting the revert will do the same thing, with a messier commit message:
git revert <commit sha of the revert>

Either of these ways will allow you to git push without overwriting history, because it creates a new commit after the revert.
When typing the commit sha, you typically only need the first 5 or 6 characters:
git cherry-pick 6bfabc

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