Or HaChaim on Genesis 27:40/אור החיים על בראשית כ״ז:מ׳

1 ואת אחיך…והיה כאשר תריד ופרקת עלו. "And your brother…but when you will grieve, you will be able to shake off his yoke." There are many explanations on this verse. It is possible to say that all the blessings of Esau are applicable only as long as Esau is content to serve his brother but not when Esau would try and shake off the yoke of serving his brother. The word תריד may also be derived from the root רדה. It would then mean that once Esau was persecuted and subjugated by Jacob he would begin to shake off Jacob's yoke; at a still later stage the prophecy of "the house of Jacob becoming fire and the house of Esau turning to straw" would be fulfilled (compare Ovadiah 1,18). The reason that the word והיה which signifies a happy occurrence is used may lend support to this interpretation. Esau's destruction would cause joy both in heaven and on earth.

2Alternately, the meaning could be that even when Esau dominates the rest of the world, his dominion will not extend over Jacob (the Jewish people) except inasmuch as he will not be dominated by Jacob. He himself will not dominate Jacob. There would be a stand-off between Israel and Edom.