No one disputes that the earth has warmed and cooled in the past. But the rate we are now seeing warming is unprecedented
The Milankovitch cycles operate on a time scale of over 400K years. The warming we are seeing has occurred in less that 200.
Was the MWP warmer than today? Possibly, but it was not a global effect and the rate at which it happened was much slower. In any case, we are on a track to be far warmer, globally, than the MWP very soon--and it will keep getting warmer after that.