Midrasch zu Bereschit 25:18

You find that everything written in praise of Jethro is mentioned to the discredit of Esau. In reference to Esau it is written: They have ravished the women in Zion (Lam. 5:11), but about Jethro it says: And he gave Moses, Zipporah, his daughter (Exod. 2:21). Concerning Esau it is written: Who eat up My people as they eat bread (Ps. 14:4), while of Jethro it is said: Call him that he may eat bread (Exod. 2:20). It is written about Esau: And he feared not God (Deut. 25:18), but about Jethro it is written: And thou shalt provide out of all the people, able men, such as fear God (Exod. 18:21). It is stated about Esau that he abolished the sacrifices (when Rome destroyed the Second Temple), but of Jethro it is said: And Jethro, Moses’ father-in-law, took a burnt-offering and sacrifices (ibid., v. 12). Esau heard of their troubles and attacked them, as it is said: Because of the striving of the children of Israel, and because they tried the Lord (ibid. 17:7), and it is written elsewhere: And Amalek came. However, when Jethro heard about Israel’s goodness, he joined them, as it is said: Now Jethro heard.