While we cannot say for certain as concrete, plastics, etc. would all disappear there are some strong signs that such a thing would not exist.

1. Invasive/Domesticated species: if humanity was at a similar point technologically we would likely be moving animals around and breeding them which would show up in evolutionary histories as weird anomalies.

2. CO2: if such a society has discovered fossil fuels we would have likely seen a spike in CO2 higher than the normal cycle corresponding with their rise in the ice cores

3. Radioactive Isotopes: The half life of uranium is around 4.5 billion years. Had this civilization ever used nuclear weapons or had nuclear power plants with leaks we would have seen much higher nuclear isotope concentrations in the atmosphere and oceans prior to WW2.

4. Satellites: Current estimates suggest that Geosynhcronus orbit satellites if left to themselves will not uncontrollably deorbit for over a million years. Even if they collided to form space debris, which is unlikely, the space debris would still be in orbit.

5. Bodies: This civilization would have likely been of much larger population that our hunter-gatherer predecessors. Any advanced civilization would need a way of dealing with bodies. Although they certainly could have all chosen cremation, cremation is more complex than burial in many aspects and it is likely that at least some would've opted for burial. In this case we would see far more humanoid skeletons /fossils than we currently do.

Although I'm sure there would be other signs as well. I believe these show that such a prior civilization likely did not exist, at least at the population or technology level we have currently achieved.

I asked a similar question five years ago, you might be interested in the responses I got.

https://www.reddit.com/r/AskHistorians/comments/1rj3ri/humans_in_their_current_form_been_around_for/?utm_medium=android_app&utm_source=share