The last million years had comparable temperatures, you'd need to go back to 50 Myr ago to have a significantly warmer climate, and without inland glaciation anywhere on Earth.
> The Last Interglacial climate is believed to have been warmer than the current Holocene.
> During the northern summer, temperatures in the Arctic region were about 2–4 °C higher than in 2011
The Climate heading in this article will give a little overview https://en.wikipedia.org/wiki/Cenozoic
See also the plot here https://en.wikipedia.org/wiki/Paleocene%E2%80%93Eocene_Therm...