The brilliant @Frank1 asked in Jan 2022 about opening URLs in the same Tab.
I had the same concern because I often re-open URL and find myself with a gazilion open tabs at the end of the day.
This apple script which I incorporate into a BTT AppleScript action, solves the problem. If the URL is not open in a tab, the script will open one, but if it is already open, that tab is simply brought to the front.
All you have to do is replace the URL.
set theURL to "https://community.folivora.ai/"
tell application "Google Chrome"
tell front window
set URL of active tab to theURL
end tell
end tell