"To Esau his brother" (Genesis 32:4) -- even though he is Esau, still he is his brother. "To the land of Seir, the field of Edom" -- why was it called Seir? Because it makes a person's hair stand on end [from fear]. "And he commanded them, saying, Thus shall you say to my lord, to Esau." Our Teacher [Rabbi Yehuda the Prince] said to Rabbi Afes: write one letter in my name to our master the king, Antoninus. He wrote it: "From Yehuda the Prince to our master the king, Antoninus." He took it, read it, and tore it. He said to him: write, "From Yehuda your servant to our master the king, Antoninus." He said to him: why do you demean your own honor? He said to him: am I better than my grandfather? Did not Jacob say, "Thus says your servant Jacob"? "With Laban I have sojourned [garti]" -- Laban the chief of swindlers I placed in my belt [outwitted him]; that man [Esau] all the more so. "And I have tarried until now" -- for the adversary of that man [Esau's destined downfall] has not yet been born. As Rabbi Shmuel bar Nachmani said: it is a tradition in our hands that Esau will fall only by the hand of the descendants of the sons of Rachel.
To My Lord Esau and the Promise of Rachel's Descendants
Yalkut Shimoni on Torah 130:18
אֶל עֵשָׂו אָחִיו, אֲפִלּוּ עֵשָׂו אֶלָּא אָחִיו. אַרְצָה שֵׂעִיר שְׂדֵה אֱדוֹם, לָמָּה נִקְרָא שְׁמוֹ שֵׂעִיר, שֶׁהוּא מַעֲמִיד שַׂעֲרוֹתֵיהֶם שֶׁל אָדָם. וַיְצַו אֹתָם לֵאמֹר כֹּה תֹאמְרוּן לַאֲדֹנִי לְעֵשָׂו. רַבֵּנוּ אָמַר לְרַבִּי אַפָּם כְּתֹב חַד אִגְרָא מִן שְׁמִי לְמָרָן מַלְכָּא אַנְטוּנִינוּס וּכְתֹב לֵיהּ מִן יְהוּדָה נְשִׂיאָה לְמָרָן מַלְכָּא אַנְטוּנִינוּס נָסְבָהּ וְקָרְאָהּ וְקָרְעָהּ אָמַר לֵיהּ, כְּתֹב מִן יְהוּדָה עַבְדָּךְ לְמָרָן מַלְכָּא אַנְטוּנִינוּס אָמַר לֵיהּ מָה אַתְּ מְבַזֶּה עַל כְּבוֹדָךְ, אָמַר לֵיהּ, מָה אֲנָא טָב מִן סָבִי לֹא כָּךְ אָמַר יַעֲקֹב כֹּה אָמַר עַבְדְּךָ יַעֲקֹב. עִם לָבָן גַּרְתִּי לָבָן רַבְּהוֹן דְּרַמָּאֵי יְהֲבִיתֵיהּ בְּחָפְתִּי, הַהוּא גַּבְרָא לֹא כָּל שֶׁכֵּן. וָאֵחַר עַד עָתָּה, שֶׁעֲדַיִן לֹא נוֹלַד שְׂטָנוֹ שֶׁל אוֹתוֹ הָאִישׁ, דְּאָמַר רַבִּי שְׁמוּאֵל בַּר נַחְמָנִי, מָסֹרֶת הִיא בְּיָדֵינוּ שֶׁאֵין עֵשָׂו נוֹפֵל אֶלָּא בְּיַד בְּנֵי בָּנֶיהָ שֶׁל רָחֵל.