Establishing the correlation between damage recovery and temperature in nuclear materials is vital to understanding material property degradation. Among the handful of topics related, one long-standing concern is the differences in damage recovery caused by different initial defect concentrations, with respect to ranges below and beyond the damage saturation limit. In this study, the temperature dependence of damage recovery has been comprehensively elucidated for pure tungsten, irradiated with 6 MeV copper ions at room temperature (RT), up to 0.05 dpa (non-saturated damage, n-SD) and 0.6 dpa (saturated damage, SD), and followed by isochronal annealing. Coupled transmission electron microscopy and Doppler broadening positron annihilation spectroscopy characterizations provided a full-probe-range picture of defect evolution. The varied initial defect concentrations caused retaining differences in damage recovery, but no substantial influence on temperature-dependent defect evolution. Moderate and dramatic damage recovery were identified below 973 K and above 1123 K in n-SD and SD tungsten, respectively. Most strikingly, nano-sized voids were confirmed at 473 K in both samples. Annealing at 1873 K saw the complete removal of defects in n-SD tungsten, but survival of a few dislocations via void pinning in SD tungsten. Full damage recovery in SD tungsten was projected to be ∼2000 K. The current revisit of damage recovery stages demonstrated the significance of encompassing scenarios of non-saturated and saturated defect concentrations. Accordingly, four damage recovery stages were redefined for heavy-ion irradiated tungsten, namely stage I (20 K–RT), stage II (RT–653 K), stage III (653–1123 K), and stage IV (1123–2000 K).