In defense of Esav: he came with a load of fresh meat and was envious of a plate of lentil soup. That means he knew Gemorah from Beitza about not eating raw meat and agreed w/ Rabbi Akiva hat derech eertz is min Hatorah. And he kept it (in Eretz Isroel?).
In praise of Yaakov – he knew how to cook (both lentils and later meat), despite being a learning boy in a well-to-do family. Probably cleaned his tent also.