Can I restore apps and settings from Google backup later? When setting up a new device, Android offers to restore apps and settings from Google Backup.

If I'd like to do it later, is it possible to do? Or is the setup the only time you have access to this functionality?

Android 6.0.
I found an app that totally saved my life on this matter!
The app is called Activity Launcher and from this you can open Android Setup app (the one with Restore icon) and click on the activity CloudRestoreFlowActivity. The restore screen will show up and you can select a backup file you previously uploaded to Drive.

FYI, I use Mi A2 Lite with Android 9.0 Pie.