Or HaChaim on Genesis 32:2/אור החיים על בראשית ל״ב:ב׳

1 ויפגעו בו מלאכי אלוקים, G'd's angels met him. We need to understand the meaning of "they met him." We also need to examine what new insight Jacob contributed by calling the angels' encampment "a camp of G'd." What exactly is the meaning of the word מחנים? Bereshit Rabbah 74,17 offers a variety of explanations all of which are homiletical.

2The plain meaning of the verse is that G'd sent Jacob angels in the guise of human beings to gain the confidence of Esau and to find out his intentions concerning him, as we observe in the course of what develops. How did Jacob know that he had been met by angels? The arrival of these people (angels) was not in the manner of ordinary human beings who are seen approaching before they arrive and set up camp. These angels materialised suddenly as if out of nowhere, as if they had sprouted up in front of him. The word ויפגעו alludes to the first sudden and unexpected encounter Jacob had with these beings. This is why he described their encampment as a camp of G'd the moment he set eyes on them. He called the place where this occurred מחנים, i.e. two camps. One camp consisted of Jacob's own people who had prepared with him for war against Esau, the second one was the camp of these angels who had assumed the appearance of human beings. They usually do so whenever they are despatched by G'd to assist someone who is dear to G'd, such as Jacob the choicest of the patriarchs.