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It's not helping my issue (https://answers.ros.org/question/399434/rospy-timesynchronizer-with-rosbag-play-bag-clock-loop-r-01-use_sim_timetrue/) but it looks like calling setReset on the Synchronizer is what you want: https://github.com/ros/ros_comm/blob/noetic-devel/utilities/message_filters/include/message_filters/sync_policies/approximate_time.h#L309-L313

  void setReset(const bool reset)
  {
    // Set this true to reset queue on ROS time jumped back
    enable_reset_ = reset;
  }

https://github.com/ros/ros_comm/blob/noetic-devel/utilities/message_filters/include/message_filters/sync_policies/approximate_time.h#L216-L231

 if (ros::Time::isSimTime() && enable_reset_)
    {
      if (now < last_stamps_[i])
      {
        ++num_reset_deques_;
        if (num_reset_deques_ == 1)
        {
          ROS_WARN("Detected jump back in time. Clearing message filter queues");
        }
        clearDeque<i>();
        if (num_reset_deques_ >= RealTypeCount::value)
        {
          num_reset_deques_ = 0;
        }
      }
    }

It's not helping my issue (https://answers.ros.org/question/399434/rospy-timesynchronizer-with-rosbag-play-bag-clock-loop-r-01-use_sim_timetrue/) but it looks like calling setReset setReset(true) on the Synchronizer is what you want: https://github.com/ros/ros_comm/blob/noetic-devel/utilities/message_filters/include/message_filters/sync_policies/approximate_time.h#L309-L313

  void setReset(const bool reset)
  {
    // Set this true to reset queue on ROS time jumped back
    enable_reset_ = reset;
  }

https://github.com/ros/ros_comm/blob/noetic-devel/utilities/message_filters/include/message_filters/sync_policies/approximate_time.h#L216-L231

 if (ros::Time::isSimTime() && enable_reset_)
    {
      if (now < last_stamps_[i])
      {
        ++num_reset_deques_;
        if (num_reset_deques_ == 1)
        {
          ROS_WARN("Detected jump back in time. Clearing message filter queues");
        }
        clearDeque<i>();
        if (num_reset_deques_ >= RealTypeCount::value)
        {
          num_reset_deques_ = 0;
        }
      }
    }

It's not helping my issue (https://answers.ros.org/question/399434/rospy-timesynchronizer-with-rosbag-play-bag-clock-loop-r-01-use_sim_timetrue/) but it It looks like calling setReset(true) on the Synchronizer is what you want: https://github.com/ros/ros_comm/blob/noetic-devel/utilities/message_filters/include/message_filters/sync_policies/approximate_time.h#L309-L313

  void setReset(const bool reset)
  {
    // Set this true to reset queue on ROS time jumped back
    enable_reset_ = reset;
  }

https://github.com/ros/ros_comm/blob/noetic-devel/utilities/message_filters/include/message_filters/sync_policies/approximate_time.h#L216-L231

 if (ros::Time::isSimTime() && enable_reset_)
    {
      if (now < last_stamps_[i])
      {
        ++num_reset_deques_;
        if (num_reset_deques_ == 1)
        {
          ROS_WARN("Detected jump back in time. Clearing message filter queues");
        }
        clearDeque<i>();
        if (num_reset_deques_ >= RealTypeCount::value)
        {
          num_reset_deques_ = 0;
        }
      }
    }