Because Team Forms stores submission in your teams own SharePoint site, all documents are automatically version controlled in accordance with your organisations retention policies. This you can recover delete form using SharePoints restore features as described below.
Open your the SharePoint/Team containing your form
Navigate to the recycle bin for that site
Within the recycle bin you should locate 4 different items. Please ensure the items are for the form you wish to recover by checking the Original Location column
The folder names after the deleted form
Select all four items and press restore