Genesis 33:12 - Joseph Benson’s Commentary on the Old and New Testaments

Let us go, I will go before thee He offers himself to be Jacob's guide and companion, in token of a sincere reconciliation. We do not find that Jacob and Esau were ever before so loving with one another as they were now. God had made Esau, not only not an enemy, but a friend. He is become fond of Jacob's company, and invites him to go along with him to mount Seir. Let us never despair of any, nor distrust God, in whose hands all hearts are.