On the surface, this looks like it'd create a Russian nesting dolls situation of esquires if all the aide-de-camps were esquires. I don't see any information on how this would work, just that if the aide is a cavalier, they follow the esquire's order. The feature also confirms that the aide can choose archetypes.
I'm inclined to say if the aide is an esquire too, then their aide would actually be the first esquire. What would you all say?