A restoration can be filed within 2 years from (i) the renewal due date, or (ii) when a trademark claiming priority is not filed within priority deadline, or (iii) when the priority document is not submitted within deadline

Yes, there is a hearing from a restoration application.

(i) simply signed original PoA, (ii) notarized affidavit detailing reasons for lapse, and (iii) restoration request.

No. The renewal application must be filed alongside the restoration application.