Genesis 32
The word 'angel' does not refer to a species. It means messenger, it is a role. In verse 1, Jacob meets with "the angels of God." In verse 3, Jacob sends "messengers" to Esau. The underlying word for 'angels' and 'messengers' is the same.
Malachi 3:1 "Behold, I am going to send My messenger, and he will prepare the way before Me. And the Lord, whom you seek, will suddenly come to His temple; and the angel of the covenant, in whom you delight, behold, He is coming,” says Yahweh of hosts.
This is a Messianic text. Even the name Malachi means messenger of God. The Lord will suddenly come to His temple and the Angel of the Covenant is coming. Christ can be referred to as an angel in this sense, that He is the preeminent messenger of God. Even men can be referred to as angels. This is not to deny that God created heavenly beings, but it is to point out that the word angel can be opaque.
Jacob dreads meeting Esau and prays to God for protection. After being left alone, he wrestles with a man. When he asks for the man's name, the man says,
"Why do you ask my name?"
Judges 13:17 Then Manoah said to the angel of Yahweh, “What is your name, so that when your words come to pass, we may honor you?” 18But the angel of Yahweh said to him, “Why do you ask my name, seeing it is wonderful?”
The Angel of the Lord prophecies the birth of Samson to Samson's parents. When they ask the angel his name, he replies much like the man in Genesis 32. To say that His name is wonderful means that His name is beyond comprehension, thus it remains a standing question: Why do you ask for the name of God when you know that it is beyond human understanding? God grants neither their request because His revelation had not come yet.
And Jacob did indeed wrestle with God, the pre-incarnate Christ. God renames him into Israel, he who wrestles with God. And Jacob says that he has seen God face to face and yet his life was spared. We too wrestle with God. God gives us various trials throughout our lives, but these trials are meant to strengthen us and build us up. No matter the trial, we should be thankful in all things, good and bad, because this is the will of God in Christ Jesus concerning us, and we can be utterly convinced that God's trials produce perseverance, and perseverance, character, and character, hope.
Genesis 33
Jacob reunites with Esau. Surprisingly, Esau shows grace to Jacob and welcomes him with tears. But this is no credit to Esau, rather, it is God answering Jacob's prayer of protection, and showing that He holds the hearts of men in His hand, to soften and to harden according to His purpose. This is a daily reality to me. I rely on God softening the hearts of men who would otherwise harm me, and He is faithful to do so. God is the greatest deescalation one could want for.
Jacob departs and makes his way to Succoth where he sets up his home and builds an altar for God.