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There are 2 features that does this. Although they differ in how they save the form.
This feature uses Edit Link tool.
The form is already submitted/saved but the end-user can still go back to it and redo the submissions.
This method will NOT work if the form was submitted already.
So the end-user can only go back to the form and edit the data as long as the form is not yet submitted.
Hope this help. Let us know if you need furthe assistance.