No one is saying that the Milankovitch cycles control every tiny fluctuation in temperature. What they are saying is that those cycles control the large variations, from ice ages to interglacials. For example, look at the regularity of ice ages and interglacials found in the Vostock ice cores, and also notice the spike in CO2 at the end of the graph which indicates human influence.
It is the overall variation between peaks and valleys that the Milankovitch cycles produce.
It is correct that the Earth should probably be entering a cooling phase. But it’s not. Why? To a large degree, it’s because of anthropogenic influences that are increasing heat retention.