It's highly unlikely that the actual Downloads folder in your user home folder was removed.
But someone else reported missing Finder sidebar shortcuts in Favorites for Desktop, Downloads, Recents, etc. Changing the Finder Settings to turn those shortcuts on didn't work. There is a configuration file that holds the settings and it was damaged. The user was able to remove that file then restart Finder and then redo the Settings and it fixed the problem.
The file in question is here:
~/Library/Application\ Support/com.apple.sharedfilelist/com.apple.LSSharedFileList.FavoriteItems.sfl2
Copy that file to the Desktop to make a backup then remove the copy in the listed location above.
Hold Ctrl+Options+Command and right-click the Finder icon in the Dock and choose to Relaunch the Finder. Then in Finder press Command+Comma to access Finder Settings and the Sidebar icon at the top. Re-check the sidebar items you wish to see. Then in Finder you can drag and drop them sidebar Favorites to the order you desire.
Then reboot and verify the settings are kept. That should solve the problem