The ESB has longer legs, a skinnier chassis, and a prettier mouth :lol
Seriously, they are worlds apart, the ROTJ used replicated parts pulled from the ESB prop's kit parts.
Only a very few kit parts are actually used on the Jedi walker, where as the TESB is literally loaded with donor kit surprises.
Add to that the head profiles that are chalk and cheese, there completely different animals....the TESB being a greyhound, and the ROTJ more of a Bull Terrier lol, hence IMO the TESB, is just way more easy on the eye lol.
lee