Not yet, but see this feature request and it’s linked requests:
Feel free to either upvote the ones that match your request best, or write your own topic in the feature request category if you feel your request is different and deserves its own topic :).
Right now, any object you open, opens in modal view by default and this cannot be changed at this time. In order for the history (back and forward navigation) to work properly, you need to open the object as full object everytime it opens an object in modal view.
Not with Zapier specifically, but the API will be released at some point, allowing integrations with 3rd party apps and services. See this item on the roadmap: