Obviously complex societies could have existed on a social level.
It's important to emphasise that they were definitely not less intelligent, nor did they have different behaviour. You can take a child from 50,000 years ago and they would perform the same as the average child today. The modern homo sapien sapien reached its point as early as 160,000 years ago.
The idea here is that we're expected to believe that modern humans -- like me and you -- sat idle for at least 80,000 to as much as 150,000 years before reaching a point in the last 10k years and suddenly forming civilizations (of which there are about six known, independent origin points around the globe). We lack evidence to the contrary -- sure -- but if we find evidence it will just be construed as a black swan event that would, in hindsight, be obvious.