Is it true, that circumpolar regions around North pole, were not submerged in water and had a habitable genial climate, until the last Iceage, or glacial period?
I understand following comment as part of your question:
Was that climate and terrain habitable by prehistoric humans?
Sea level at peak was probably 4 to 6m (13 to 20 feet) higher than today...
A 2007 study found evidence that the Greenland ice core site Dye 3 was glaciated during the Eemian, which implies that Greenland could have contributed at most 2 m (6.6 ft) to sea level rise. Scandinavia was an island due to the inundation of vast areas of northern Europe and the West Siberian Plain.
So there regions were submerged either under ice or sea and definitely not habitable.
And what before? I didn't find as thorough data through a brief google search, but supposing that Homo Heidelbergensis was the first "prehistoric human" species, we have some 600 ky of history, with several interglatials. Continental drift is marginal during this period (few kilometers IS marginal), so no continent could have been near the North Pole during any period of that time. During interglacials, the temperature was about the same as now, +/- 2 °C, and so the sea level was similar to current level. Even if some parts of Lomonosov ridge (just under North Pole) were above sea, they wouldn't be habitable for the humans of that time, at least due to ice. Paleolithic Eskymos in that areas are extremely unlikely.