The Eees began well with Henry Mortimer crossing and Tom Walker adding the extras as well as a penalty, their opponents replying with Lloyd Hayes on target after Ellis Thomas touched down.
Yet Mortimer completed a stunning hat-trick and Ollie Norris also went over, Walker with three more successful kicks, before Titans cut the gap to 31-12 through a Callum Bustin try.
The visitors then surged ahead with three converted tries from Ronnie du Randt, Tomasi Tanumi and Charlie Capps, only for a Walker penalty to nudge Esher back in front.
However, title-chasing Rotherham put their foot down again with Hayes landing four more conversions as well as crossing the whitewash with JP Bruzulier, Jamie Cooke and Zak Poole, their other points coming from a penalty try which put them 40-34 in front.
The result leaves Titans two points adrift of leaders Richmond and six clear of Rams.
Club and Sale shine
Blackheath recorded a second straight resounding away win as they crushed bottom side Darlington Mowden Park 52-7.
Club were in blistering form in the first half as they scored six converted tries through Tex Cavubati, former Ram Mike Hoyt, Archie Holland, Tom Baldwin, Billy Harding and Jordan Burns, Tom Ffitch landing every kick for 42-0.
The hosts fought valiantly after the break, however, getting on the scoreboard as Garry Law added to Harvey Johnston’s 52nd-minute effort, but Jake Hennessey’s late double and a final Ffitch kick completed a comfortable success for Blackheath.
Eighth-placed Sale moved level on points with the side one place above them in the table, Birmingham Moseley, after defeating their visitors 22-10 under the Friday Night Lights.
The Dogs started brightly and hit the front when scrum-half Joe Green touched down, James Robins with the extras.
Despite dominating the opening 40 minutes, Sale coughed up a try to Will Safe just before the break, Mark Dixon and Moseley skipper Ollie Stedman then exchanging five-pointers after the interval to leave the hosts 12-10 up.
However, it was the home side who sealed the try bonus-point, and deprived their opponents of anything, with further tries from Stone Priestley-Nangle and Josh Brown sealing the deal.
Rams return to National One action at home to in-form Plymouth Albion on Saturday (3pm).
The visitors have won their past eight matches and with lunch already sold out, a big occasion is on the cards as Rams look to keep their title hopes on track with victory.
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