Is There Really Free Will?

According to Rashi, while Rivka was still pregnant, Esav pushed to get out whenever she passed a house of idol worship. Does that mean his path was decided before he was born, and how can that fit with free will? The Rambam seems to contradict himself on whether our nature shapes us. Why does the Parsha bring in Rebbi and Antoninus, and why did Yitzchak want to bless Esav? Rabbi Asaf Prisman separates two things we often blur together, and our own anger, energy and temperament are part of the question.