You can always give it reincarnation without a cooldown (but that is a delayed revival).
Alternatively, you can do it through triggers. Just register when a unit dies and add whatever conditions you want (depending on which units should revive). Then you can use the "Hero - Revive" function (if the unit is a hero). If it isn't a hero, you can either recreate the unit, or you can resurrect it by creating a dummy unit to cast a modified human resurrection ability, or a modified ancestral spirit that can target all units (not just tauren). That only works if it has a corpse though. If it doesn't have a corpse, then you'll have to create the unit all over.