On the coarsest basis the groups that existed 3-5,000 years ago. The major continental ancestry groups of today were pretty much done by then, whether you divide them at K=2 and have SSA and everyone else, SSA, West Eurasian and Asian at 3, add the Americas at 4, and Melanesians, Papuans and the various ethnoi that resemble them from the Aboriginals in Australia to the Andamanese or Negritos at 5. 5,000 years ago those groups all existed in a somewhat recognisable form. Plenty of the modern variety in them didn’t. South Asians didn’t, Northern Europeans, didn’t. Both emerged as a result of population movements and adaptation after that. 5,000 years ago Europeans were blue eyed but either brown or black skinned and the population of the Indian subcontinent were more like modern Andamanese than any other group. Ancestral South Indians are a mix of that group and Iranian plateau agriculturalists and Ancestral North Indians were horse riding milk drinking central Asians.

If you go back far enough all humans come from Africa, and most (at least 90%) comes from the latest Out of Africa expansion, ~200K years ago. But all non SSA humans are 2% Neanderthal, on average, and there’s other archaic hominid introversion that varies by geography. The Tibetan high altitude adaptations are probably 2 million years old.

Which ancestors one refers to will depend on the question you’re asking.

I thought the out of africa theory was recently challenged dye to older human findings elsewhere.