The ice age, as you call it, is usually called the glacial period according to correct linguistic usage. It is a term for a time and at the same time for a process and a condition of a planet, namely when a world is completely or partially subject to an icing due to climatic changes, which you very inaccurately call a glaciation, because there are both small ice ages and large ice ages, and of course total ice ages, in which the whole planet is covered with ice.
With the Earth, for example, or especially since your statement refers to this world, the cycle lasts an average of 700,000 years, which means that on average every 700,000 years a transformation appears, which is fundamentally initiated, carried out and completed through a great glacial period.
Between the cycles of the glacial period, however, interglacial periods or petite ice ages, which you call interglacial periods, also take place continuously. And since the Earth is already a planet that is evolutionarily very far after the Sun, it is no longer subject to a total glacial period unless special terrestrial and extraterrestrial influences bring about something else, but only very large areas are covered by ice masses, while the remaining areas, such as the Arctic and Antarctic and the glacial regions, become ice-free with a global shift of the climate belts. If the ice mass then disappears in one area, then another area is already preparing for a small or large glacial period.