Yes and no. From a pedantic point of view, the question is ill-posed: the concept of reversibility does not make sense in a chaotic system.
On the other hand, it is an idea that is widely discussed, and most people have a rough idea of what is meant.
There are three possible interpretations of the question that I can think of:
(1) If the abundance of greenhouse gasses in the atmosphere is returned to pre-industrial levels in the next hundred years, has there been irreversible change which will stop the climate returning to its pre-industrial state at the same time, at least as far as the global mean temperature is concerned?
Answer: no, at least not much. There will be differences because of changes in albedo arising from changes in vegetation and ice cover. Some of the changes in ice cover will be irreversible, at least on the time scale of millenia. This is because the Greenland ice-sheet was formed during the last ice age, and won't recover the mass it is loosing until the next ice age. There will also be a lag in the recovery of the Ocean temperature.
(2) A second possible interpretation of the question is: if we stop burning fossil fuel, and start extracting CO2 from the atmosphere, will the warming trend continue?
Answer: no, probably, if we do it soon enough, but it is possible. The difficulty here is removing enough CO2 to make a difference. If we leave it too late, there is a risk that natural feedbacks (e.g. increased frequency of forest fires, methane emission from permafrost) will release greenhouse gasses faster than we can remove them. I'm not aware of anybody making even a rough quantitative estimate of the risk of a run-away warming feedback, but the risk exists and grows as the temperature rises. If you are of a nervous disposition, events such as the raging fires in Australia last year look very ominous. When it comes to forest fires, however, it is, however, very difficult to disentangle impacts of rising temperature from changes in forest management, but there are a number of studies, e.g. https://nhess.copernicus.org/preprints/nhess-2019-206/, linking climate change to an increase in fire activity.
(3) If the question is about irreversible melting of ice, rather than irreversible temperature change, then the answer is most likely yes -- in many areas ice volume will not recover. There are changes to the surface albedo of Greenland which make it likely that it will continue melting. The Greenland ice sheet is a fossil ice sheet, meaning that it only exists because it was formed in the ice age: there is no mechanism to grow it back in the inter-glacial period.
