Genesis 33:12

‘And he said, “Let us take our journey, and let us go, and I will go before you.” '

Esau is well meaning and offers his protection. He is unaware of his brother's fears, although no doubt amused at his seeming subservience. But then, he thinks, that is Jacob. But his intentions are all good. They will go on together. He may well, however, have been secretly hoping that Jacob would not accept his offer. The laws of kinship demanded the offer. It was not necessarily intended to be accepted.