Im running tvheadend (4.3-1725~g9a6007c20) on ubuntu 19.10, and I have the file /etc/systemd/systemtvheadend.service:
[Unit]
Description=Tvheadend - a TV streaming server and DVR
After=syslog.target network.target auditd.service
[Service]
EnvironmentFile=/etc/default/tvheadend
ExecStart=/usr/bin/tvheadend -f -p /var/run/tvheadend.pid $OPTIONS
PIDFile=/var/run/tvheadend.pid
Type=forking
Restart=on-failure
RestartSec=54s
# To enable watchdog functionality, uncomment these, remove Type=forking
# and compile with --enable-libsystemd_daemon
#Type=notify
#WatchdogSec=1m
#TimeoutStartSec=5m
#TimeoutStopSec=20
[Install]
WantedBy=multi-user.target
(and this was a standard install from the repository)
The line Restart=on-failure which makes systemd restart on a crash -- the functionality that you were looking for