So far as I know, the only way to get that functionality is to put the windows next to each other and to navigate them spatially (or to write a script that does it and bind that script to alt+tab).

But grouping windows logically based on how they're used has always just felt right, so I've never really considered that you want to keep track of the order in which windows were previously selected (using alt-tab to navigate even just three or four windows can be quite a trick). It always seemed like a necessary evil since floating-only window managers can't handle the kind of spatial focus-navigation that i3 does.