The last Ice Age ended between 100,000 and 40,000 years ago.
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It hasn’t. We are probably in a warm phase of a continuing Ice Age, and the Earth’s present climate is relatively cool when set in a geological time context.
The last glaciation ended about 10000 years ago, with a minor, short reversal about 8000ka called the Loch Lomond re-advance; and fluctuating temperature since.