A cooling period can set in motion conditions for a warming period.
One would expect a cold period to be ended by a warming period.
Now, if a warming period has persistence, so that global warming causes global warming, by various outcomes like drought, emissions of CO2, increases of water vapour, then we may reasonably expect that a warming period will continue until some event(s) trigger it to end.
If during that warming period the earth's oceans warm up enough, the end of the warming period can start a major ice age. But if not, it will still trigger a minor period that may approximate an ice age in areas like Greenland.
How warm do we imagine the whole world had to get to have farming in Greenland? We do not know all about the farming, but we should assume that at least hardy plants were growing there. So Greenland will have been subject to prolonged warming, enough to melt away most of its ice. This would not likely have been possible early in the warming period.
We know that the Canadian North, as far north as southern Greenland will support vegetation and grazing animals every summer, enough to permit Inuit to survive inland from the arctic. Only a few more degrees would be needed, but clearly access to a sea with fish is very helpful.
By the time a warming period has progressed that far, CO2 concentrations have likely built up, as drought removed a lot of the earth's ability to recapture it. Only with the following cooling period would that widespread drought have ended, permitting the plant life once again to absorb the CO2. But in addition the cooling period will cause water vapour concentrations to drop, as water vapour levels are very much driven by temperature.
There is sufficient evidence to convince me that CO2 levels do rise as a result of global warming, as well as global warming may be accelerated and sustained by elevated CO2 levels.
In effect, CO2 may be needed to sustain a warming period long enough to produce a major ice age. In its absence we would likely have other influences that trigger a cooling period before the oceans are warm enough to sustain formation of a major ice age.