I understand that all of Rachel's kids are the nemesis of Esav/Amalek. Yaakov waited for Yosef because he didn't need both. Binyamin's children are equal to Yosef (and are even all named after him [Rashi Gen 43:30]). Binyamin's descendants fought and attempted destroying Amalek. First Shaul with King Agag (I Shmuel 15:3-8) then Mordechai with Haman the Agagite (Esther 3:1, 8:11).
The one time Yosef actually met Esav, he bowed down to Esav (Breshit 33:7). The Ramban (Breshit 49:31) quotes Yosifon that on the way back from burying Yaakov, Yosef quarreled and fought with Esav's grandchild, Tzefo, captured him and his troops and took them as slaves.