Certainly not before Esau was born.
But, I find this true throughout most of history, including the parts where there isn't a kingdom of Edom to point at.
During the Exodus, the kingdom of Edom impeded Israel's progress from Egypt to the Promised Land.
Moses married a Kenite - they're a tribe of Edom. Moses was taught how to be a priest by his father-in-law Jethro, again a Kenite. Many scholars think that the Judaism of Moses was the native religion of the Kenites and Midianites.
The Kenite tribe covenanted itself together with Israel during the Exodus. They received cities in Judah alongside the Israelites, including Hebron, which was the first capital of Judah (!). The 1st four judges in Judges were Kenites.
The Edomites and Amalekites (who are also a tribe of Edom) remained a thorn in the side of Israel under Saul and David. Solomon put them to work in his mines, but allowed them to continue living in southern Judah. They turned a substantial portion of the desert into the world's largest slag heap.
During the Babylonian captivity, the Edomites invaded the depopulated land of Judah and took it for themselves (Obadiah).
The Maccabean kings had continual conflict with Edom. When John Hyrcanus re-took some of the lands the Edomites had claimed, he converted the people to Judaism rather than driving them out. They remained among the Israelites and proved to be the most pious practitioners of Moses' Judaism... which is their native religion, after all.
I believe Jesus 'tares among the wheat' parable is an allusion to those Edomites within Israel, who had become the lawyers and strict law-keeping Pharisees that John rebuked as 'generation of vipers.'
And of course, before Herod the Great was great, he was Herod the Idumean. Idumea is just another word for Edom.
The pattern for Esau in the Bible is clear. Edom lives beside and within Israel, and conquers and oppresses it from within. He pretends to be Israel. He pretends to be a pious believer in God, and he loves most of all to point out to others their sins, to make himself look righteous.
We still have a lot of Edom in the church today, and modern Israel still has a lot of Edom in its government.