Tricky Jake

Esau despised his birthright, while Jacob honored it. In deceiving his father, Jacob was like Tamar with Judah.

As for being uncomfortable with "heel-grabber" for a hero, biblical heroes usually triumph by resorting to something other than main force. For that matter, so do fairy tale heroes. Perhaps we'd be more comfortable with Jacob if we read more Jack the Giant Killer tales.

The Israelites were a race of giant-killers. Good thing they had a tricksy father to breed all that tricksiness into them.