Here is an excerpt from Swedenborg's "Arcana Coelestia" that helps explain the inner meaning of this chapter:

AC 3490. In the preceding chapters, where Isaac and Rebekah are treated of, the subject in the internal sense is the rational, and how the Lord made it Divine in Himself. In the present chapter, in the internal sense, the subject is the natural, and how the Lord made it Divine in Himself. "Esau" is the good thereof, and Jacob" the truth - For when the Lord was in the world He made His whole Human Divine in Himself, both the interior Human which is the rational, and the exterior Human which is the natural, and also the very corporeal, and this according to Divine order, according to which the Lord also makes new or regenerates man. And therefore in the representative sense the regeneration of man as to his natural is also here treated of, in which sense " Esau" is the good of the natural, and Jacob" the truth thereof, and yet both Divine, because all the good and truth in one who is regenerate are from the Lord.