From conception, Jacob was dysfunctional and had relationship problems.
Rebekah recognized during the pregnancy something was not right with the twins she carried. They were struggling within her womb. She prayed to the Lord and He provided her with the answer as to why the twins were kicking and shoving one another.
While both nations that were born out of the twins were not perfect, they were both punished accordingly. But while Esau was left in the misery, he had brought upon himself with his iniquity. Jacob, meanwhile, was forgiven and restored.