I would say no. As long as humans roam the earth there won't be a "Golden Age". Humans have been awful over their history.
I think I agree with Walter. I don't know if I'd say humans are mostly awful, but every period of history has its problems. Some things may have been golden for some but awful for others. I don't think there was one time that was a "golden age".
I personally think "golden age" describes grandparenthood. I am not a grandma but from what I hear/read we all tend to get to a form of a golden age. 😆👴👵
As a species? No.
As individual cultures/societies? Yes.
Historians and archeologists often point to various times in human history, when one society or another was going through a "golden age" ... But there has never been one that our whole species went through at the same time. (well, at least not that we have a record of yet)