If I jailbreak my iPod Touch, but later would like to restore it, is there some way I could restore it from a recent backup instead of a fresh restore?

Just wait until Apple sends out another update.

Yup. Im not sure how to do it but there is a iPod backer upper. And I think iTunes does something similar to that but I have no idea how to use iTunes.

I’m not sure how different iPhones are from iPod Touches, but I’ve had to restore my jailbroken iPhone with the legit firmware, and have been able to have all my information/apps/data restored.

You just have to make sure that right before you do it, iTunes says that it’s backing up your iPod. The firmware restore has nothing to do with the content backup, so you’ll still get to keep that. If you have apps, just make sure to sync them with iTunes first.