37And Isaac answered and said unto Esau, Behold, I have made him thy lord, and all his brethren have I given to him for servants; and with corn and wine have I sustained him: and what shall I do now unto thee, my son?
38And Esau said unto his father, Hast thou but one blessing, my father? bless me, even me also, O my father. And Esau lifted up his voice, and wept.
39And Isaac his father answered and said unto him, Behold, thy dwelling shall be the fatness of the earth, and of the dew of heaven from above;
40And by thy sword shalt thou live, and shalt serve thy brother; and it shall come to pass when thou shalt have the dominion, that thou shalt break his yoke from off thy neck.
41And Esau hated Jacob because of the blessing wherewith his father blessed him: and Esau said in his heart, The days of mourning for my father are at hand; then will I slay my brother Jacob.
The description of Esau as a military man comes from this prophecy, not from his actions as recorded in the Bible.
Esau had very good reason to be ticked off with his sneaky lying twin. However, as you point out chapter 33 shows he got over it and welcomed him honorably and peacefully when he could have killed him easily.
Precisely, and in response to the honor that Esau showed him, Jacob *still* acts dishonorably. Esau has repented. He shows Jacob grace.
Jacob has not repented of his sins against his brother. His decision to not accompany Esau to Seir and instead go to Shechem had disastrous consequences.