1) Obliquity is the main factor driving the glacial-interglacial cycle. Precession, eccentricity and 65°N summer insolation play a secondary role. There is no 100 kyr cycle. Milankovitch Theory is incorrect.
2) The current pacing of interglacial periods is the consequence of the Earth being in a very cold state that prevents almost half of obliquity cycles from successfully emerging from glacial conditions. The rate for the past million years has been 72.7 kyr/interglacial, or 1.8 obliquity cycles between interglacials. This can be generally described as one interglacial every two obliquity cycles except when close to the 413 kyr eccentricity peaks, when interglacials take place at every obliquity cycle.
3) Glacial terminations require, in addition to rising obliquity, the existence of very strong feedback factors manifested as very low glacial maximum temperatures. High northern summer insolation at the second half of the rising obliquity period is a positive factor, and if high enough during eccentricity peaks can drive the termination process.
4) CO2 can only produce a minor effect in glacial terminations since the measured change in concentration (roughly a third of a doubling which represents half of the warming effect of a doubling) is too small to account for any important contribution to the large observed temperature changes.
5) Since the precession cycle has bottomed and the obliquity cycle is half way down we should expect the next glacial inception to take place within the next two millennia.