How to configure Nautilus so that when I insert a CD, DVD, USB, etc.. it is not opened in another window but in the already opened Nautilus windows. For example like a new Nautilus window tab.
This isn't currently possible. It would require at least one of these features to exist in Nautilus:
Install Ubuntu Tweak:
Open the application, click on Tweaks, and then Nautilus Setting.
Under Automatic Mount Settings, there are some options.