There’s no doubt that the planet is in an interglacial period. No one who knows about ice ages and the planet’s geology would doubt that. So in that sense “it’s warmer than it has sometimes been”. But it’s also not as warm as it has been at other interglacials.
Now that we have that established… those were periods of time measured not in years, decades or even centuries, for the most part, but time measured in eons: thousands to tens and hundreds of thousands of years… or more.
Trying to determine from year to year whether “the planet is warming” is a pretty hopeless endeavor, even if the present trend of a few years or decades might be trending in some direction. And in point of fact, by the generally accepted measures used by most climate scientists, there has not been appreciable warming over most of the past couple of decades. Which also indicates… nothing.
So… is the planet warming? Ask again in a thousand years or so.