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The Pleistocene Epoch (1.6 million-10,000 years ago)
https://australianmuseum.net.au/learn/australia-over-time/evolving-landscape/the-pleistocene-epoch/The Pleistocene was the time of the giants, when megafauna roamed the landscape. Australia was close to its current position, but sea levels were much lower. Humans may have first arrived in Australia during this time.