Did Israel ever offer the West Bank back?

According to UNSC Resolution 242, Israel was required to cede the West Bank back to Jordan in order to have a peace treaty. As a result, when the Israeli Prime Minister Yitzhak Rabin was negotiating with Jordanian King Hussein bin Talal of Jordan, Rabin offered to discuss a phased withdrawal of Israeli control from the West Bank and its restoration to Jordanian power (similar to the Sinai Peninsula phased withdrawal). King Hussein actually rejected this overture arguing that they wanted to cede their claim to the West Bank to the Palestinian Authority. Israel agreed to transfer the claim to the West Bank to the Palestinian Authority and made peace with Jordan in 1994.

Israel has negotiated on and off with the Palestinian Authority concerning phased withdrawals and areas of local governance. However, Israel has never offered the Palestinian Authority all of the West Bank. (Israeli Prime Minister Ehud Barak offered Arafat roughly 95% of the territory in 2000, but this was rebuffed because Israel refused to approve a Palestinian Right of Return to Israel.)