Sadhguru explains the timeline of the four yugas.
The precession (caused by gradual rotation of the Earth’s axis) of the equinoxes is the period of time that it takes the Earth’s axis to pass through one complete cycle of the zodiac. It takes the planet 72 years to pass through one degree of the zodiac and 25,920 years to complete one full circle of 360 degrees. One half of the journey takes 12,960 years and covers the four yugas. Satya Yuga lasts 5184 years. Treta Yuga lasts 3888 years. Dwapara Yuga lasts 2592 years. Kali Yuga lasts 1296 years. These four yugas taken together come to a total of 12,960 years.