Removal (Deportation) and Reentry: Voluntary Departure

Hello, I voluntarily departed from the U.S. in 2011. Before doing so I was living in the U.S. under a Permanent Resident Status for 12 years. I attended high school and college in the U.S. during this time. I currently still have family living in the U.S. that I have not seen for years as well as friends old colleagues etc.. I know more people and more about the U.S than my own country, and currently just want to be able to visit family and make up for years lost. Is there anyway I can return to the U.S., even just as a visitor?

Removal (Deportation) and Reentry: Voluntary Departure