"And it came to pass, as soon as Isaac had made an end" and so forth, "and it came to pass, as Jacob was scarce gone out" (Genesis 27:30). Why these two goings out? Rabbi Aibu said: that he appeared as one going out, yet he had not gone out, for he heard the footsteps of Esau, and he came and stood behind the way. Therefore it is said, "gone out, gone out." "And Esau his brother came in" and so forth (Genesis 27:30). This teaches that he was hunting, and the angel would come and release them.
Why Jacob Went Out Twice and the Angel Freed Esau's Game
Midrash Aggadah, Genesis 27:30
ויהי כאשר כלה יצחק וגו' ויהי אך יצא יצא יעקב. שתי יציאות הללו למה אמר ר' איבו שנראה כיוצא ולא יצא, כי שמע דריכות עשו והוא בא ועמד אחר הדרך, לכך נאמר יצא יצא: ועשו אחיו בא וגו'. מלמד שהיה צד והמלאך בא ומתירן: