Is there a way to make sense of Eisav Harasha knowing he did 5 big aveiros in one day (including murder) and wanting to kill his brother Yackov, and also exhibiting very good kibbud av vaem? How do we explain this fellow?
At the Bottom of page 179 of the Juggler and The King, Rav Aahron Feldman explains the Gra, where he basically asks how can someone evil (Eisav) do a Mitzvah so well.
He answers that it was in his best interests (selfish) do so as this will cause his children to take care of him in his old age the same way he cared for his father.
He adds there may be an even subtler self interest where to get the maximum pleasure out of this world there needs to be law and order and honoring the past generations fostors a respect for tradition which helps create social stability. Thus he could get the most pleasure out of this world.