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Gareth Southgate's team made it all the way to the final in Germany but came up short against Spain as Mikel Oyarzabal scored a late winner.
Henderson wasn't part of Southgate's squad, having lost his spot during a tough season which saw him leave Liverpool for Al-Ettifaq before moving to Ajax.
However, he has returned to the fold under new boss Thomas Tuchel.
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Tuchel made a number of unexpected choices when announcing his squad to take on Albania and Latvia in England's first two World Cup qualifiers.
As well as recalling Henderson, he has rewarded Marcus Rashford for his form on loan at Aston Villa with a first call-up since March 2024.
Henderson was part of England's squad for Southgate's first three tournaments, though he wasn't always a starter.
The former Sunderland star started all three knockout games at the 2018 World Cup, but was used from the bench at Euro 2020 after recovering from injury just in time to join the squad and worked his way into the first XI in Qatar in 2022.
Some have questioned the decision to bring the veteran back into the fold, with former Liverpool and England midfielder Danny Murphy among them.
While Pickford has welcomed the recall, he admits the Euros omission represents a big 'what if'.
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"We got to a final and didn't win it," Pickford told reporters, after highlighting the "winning mentality" of his newly recalled team-mate "Jords is a great lad and respected by all the players and the staff.
"I don't think we will ever know if he was a miss as we got to the final.
This manager has brought Hendo in and I know how much of a leader he is, and how respected he is, so I think it's only a good thing."
Pickford and Henderson played together at the 2022 World Cup(Image: Getty Images)
Tuchel has indicated Henderson is in with a chance of making his 2026 World Cup squad, despite the fact that he will turn 36 during the tournament in North America.