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Why did Jacob wrestle with an angel?

 So Jacob was left alone, and a man wrestled with him till daybreak.  When the man saw that he could not overpower him, he touched the socket of Jacob’s hip so that his hip was wrenched as he wrestled with the man.  Then the man said, “Let me go, for it is daybreak.”
But Jacob replied, “I will not let you go unless you bless me.”
 The man asked him, “What is your name?”
“Jacob,” he answered.
 Then the man said, “Your name will no longer be Jacob, but Israel, because you have struggled with God and with men and have overcome.”  Genesis 32:24-28

Jacob's literal wrestling match with an angel (the male) was also a figurative wrestling match with God.

Jacob, unlike his grandfather Abraham or his father Isaac, rarely communicated with God and took things into his own hands.

He didn't pray for a wife like Isaac and got stuck with two wives and two maidservants.  He didn't prayed at all until Genesis 32 when the possibility of war emerged.  God spoke to him in Genesis 28 with the dream at Bethel (the ladder to heaven) and Jacob responded to it, but God took the initiative.

He deceived his brother Esau, stealing his birthright through false impersonation, and faced tensions because of their relationship.

He manipulated events with his father-in-law Laban to get out of business with him.

God needed Jacob humble so he could work with him, so he sent an angel to work him over and hobble Jacob so God could always remember who was in charge. The match was a close tie, until the angel twisted his hip.

The angel renamed Jacob, now calling him Israel, which means "God prevails."  Jacob could struggle with God as much as he wanted, always trying to do things on his own, but in the end, God will win.