Can I defrost extra firm tofu at the last minute to bake? I forgot to thaw enough!

Yes, texture is completely changed by freezing, as you may have noticed. Becomes abut more dried out and crumbly. I usually use it for frying at this point, and marinating and baking.

this is such an interesting question - I never thought to freeze tofu!

Put it in a zip lock and seal tightly and defrost in a bowl under running water. That should go pretty quickly for tofu.