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

AC 4336. The subject here treated of in the internal sense is the conjunction of Divine good natural which is "Esau," with the good of truth which is "Jacob;" thus the submission of the latter, and its insinuation into Divine good natural. The process by which this is effected is described. Lastly the acquisition of interior truths is treated of.