In searching the text in the Hebrew Bible I found this Rashi commentary:
Mahanaim: Two camps, [one of the angels] outside the land, who came
with him up to here, and [one of the angels] of Israel, who came to
greet him. — [from Tanchuma Vayishlach 3]
This corresponds to vs 4(HB):
Jacob sent angels ahead of him to his brother Esau, to the land of
Seir, the field of Edom.
Jacob sent angels: Heb. מַלְאָכִים, literally angels (Gen. Rabbah
75:4). וישלח יעקב מלאכים: מלאכים ממש:
to the land of Seir: Heb. אַרְצָה שֵׂעִיר [like] לְאֶרֶץ שֵׂעִיר, to
the land of Seir. [In] every word that requires the prefix “lammed”
[to] at the beginning, Scripture placed a“heh” at the end. — [from
Yev. 13b] ארצה שעיר: לארץ שעיר, כל תיבה שצריכה למ"ד בתחילתה הטיל לה
הכתוב ה"א בסופה:
I'm not a Hebrew scholar, but the text seemes to suggest that the "angels" were the "messengers", and they 'came together' to help him 'win over' his brother Esau, whom he had surplanted, then fled because of his anger towards him.(Gen. 27)
When the "angels" tell him of the number of men that are with his brother(400), Jacob gets distressed and divides his camp in two, which seems to agree with the number of angels(messengers) with him: if his brother should attack one group, the other will be preserved and vice versa.
His plan is one of appeasement-as he has aquired wealth at the hand of Laban, so he is willing to offer it to Esau, and appease his anger. He sends his flocks ahead of him in waves, and at the end, reminding those who tend them that "they belong to your servant Jacob, and they are yours". "Your servant Jacob is behind them."
He lodged in the camp at night(vs 22), and then at night he took his 2 wives, maidservants, and eleven children and went across the River Jabbok(vs 23).
In vs 24(25 in the HB) he wrestles with a man until daybreak. The Rashi says:
And Jacob was left: He had forgotten small bottles and returned for
them. — [from Gen. Rabbah 77:2, Chullin 91a]
This of course is his wrestling with the angel-one of the "messengers" of Mehanaim. He needs his blessing to face his brother Esau, and he won't leave him go until he does.
The angel does an amazing thing-1st, he injures him in the sciatic nerve, giving him a limp he would carry the rest of his life, then asks him his name, which he changes to Israel. And he said,
"Your name shall no longer be called Jacob, but Israel, because you
have commanding power with [an angel of] God and with men, and you
The angel who accompanied him in his travels accompanied Jacob, the surplanter. The angel of Mahanaim who sends him back into the land with God's blessing names him Israel, the prevailer, the one who has strength to prevail with God.
Furthermore, we see in Chapter 33:4,
And Esau ran toward him and embraced him, and he fell on his neck and
kissed him, and they wept.
In fact, he states:
But Esau said, "I have plenty, my brother; let what you have remain
But Jacob(Israel), fresh from the encounter with the angel says:(vss 10-11 HB)
Thereupon Jacob said, "Please no! If indeed I have found favor in
your eyes, then you shall take my gift from my hand, because I have
seen your face, which is like seeing the face of an angel, and you
have accepted me.
Now take my gift, which has been brought to you, for God has favored
me [with it], and [because] I have everything." He prevailed upon him,
and he took [it].
The favor of God rested upon him in the land God told him to return to, and he had 'prevailed' over the anger of his brother, rightly deserving the name of Israel the angel had given him.