Circum polar regions in Interglacial periods
I understand following comment as part of your question:


  Was that climate and terrain habitable by prehistoric humans?


I also assume that by "interglacial periods" you don't mean the last and current one, the Holocene. The next latest one is Eemian. The wikipedia sais on the sea level during that period:


  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,[7] which implies that Greenland could
  have contributed at most 2 m (6.6 ft) to sea level rise.[8][9]
  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.