Just curious if there was any ideas or plans to update the protocol to replace the lost bitcoins if there was a consensus, if that is even possible.
No there aren't because lost coins are not a problem whatsoever. There's plenty of units of account to fill the need for them. Losing millions of coins changes nothing since one coin is actually 100 million "coins".
Plus returning a large amount of coins into circulation would just dump the price for all holders, and holders are the ones who decide the rules, so why would they agree to such change?