Rabbeinu Bechaya zt”l writes as follows: “'ויזד יעקב נזיד ויבא עשו מן השדה והוא עיף' - That which Yaakov was eager to sell, Esav was eager to buy, and vice versa. Yaakov wished to divest himself of the desire for worldly pleasures, symbolized by the pottage of lentils. This was something that Esav wished to acquire. At the same time, Esav sought to free himself from the birthright, symbolic of a higher level of attachment to Hashem, something which Yaakov Avinu obviously desired very much.”
A Wise Man would say: “Things are never quite as scary when you’ve got a best friend.”