There was no plan for anybody called Jacob. Esau was to carry on the covenant that God made with Abraham and Isaac. But all the way from the womb, Jacob proofed himself. And God loved him and chose him to carry on with the covenant instead of Esau. It was not because Esau was bad. It was because Jacob was better. There was something about Jacob that God loves. Jacob had a "determined-spirit-to-survive" "A fixed-spirit-to-live"
Genesis 25>23"And the LORD said unto her, Two nations are in thy womb, and two manner of people shall be separated from thy bowels; and the one people shall be stronger than the other people; and the elder shall serve the younger"
Listen to what God said. He was not talking about Esau and Jacob. He said ,"two nations are in they womb" And "two manner of people..." Then God says" the elder shall serve the younger" Jacob represent the younger and Esau the elder.
So Jacob "manner of people" would rule over Esau "manner of people". So who are Jacob man er of people? People with "determined spirit"