How is it possible that Yitchak and Rivka had a child like Esav that in his mother’s stomach already he was naturally inclined to do the wrong thing. The answer is like a Rambam says that there is two ways of serving Hashem, one is a person is naturally inclined to do the right thing “Yakov” his way of serving a Hashem is the naturally constantly serve her and grow in that manner, then there is another way to serve Hashem someone who is naturally inclined not to do the right thing “Esev” and his way of serving a Hashem is to overcome this desire and do the rightthing.

לקו״ש טו-ב