It is very easy to determine, that there are polar ice sheets and alpine glaciers on Earth which means we are in an ice age. I do not mean there was an ice age recently I mean we are in an ice age right now. The alternative is a greenhouse period with no glaciers on the planet.
What you ask about is that there was a glacial period within the Ice Age with glaciers that advanced and covered are part of Earth. Other posts have explained the evidence of that. The last glacial period ended about 15,000 years ago. We are in an interglacial period within an ice age
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