Yes, Herod the Great was a descendant of Esau.
During the Jewish-Roman wars, the Idumeans fought on the side of the Judeans against the Romans and were completely assimilated into the Judean people by 132 AD
I don’t remember offhand but Herod may have had some Jewish ancestry also. He was Jewish in religion. After he killed his own son, Augustus commented it was better to be Herod’s pig than his son.