I don't think it's possible to allow a right-click on a right-click menu, but I agree with having some easier way to do it.
Here's the secret way to do it right now:
right-click the Back button to drop down the tab history list
to open a history item in a new tab, either middle-click the title with the mouse scroll wheel or Ctrl+click it (on Mac, I assume it's Command+click instead)