My initial thought is going back to previous steps is not supported and some investigation seems to back this up.
What may help is to rethink the design of the flow. Instead of going back a step you could do the following:
- Add a condition after the approval in question to check the response
- If rejected, place a new approval request in the rejected condition and proceed from there as required.
The issue you may have is if you are expecting a continuous loop of rejections that require a lot of back and forth. In this case you could potentially use a Do Until loop that has both the approvals but checks against the second approval to complete the loop.
UPDATE
In the case of where you have more than two approvals a Switch statement can be used with a counter variable to indicate which stage of the approvals you are up to.
Start the counter at 1, have case statements for each approval step and as the outcome of each approval occurs use a condition statement to either set the variable to the next case statement or to the previous case statement depending.
The outcome of to Do Until will need to be changed to be the final approval result.