In message , Paul Corfield
writes

Bus is easy - 65 to Kingston and then a K3 to Esher Town Centre.

A good route, because (IIRC) both services stop in Eden Street. But it
will be something like 30 minutes longer in each direction than taking
the train.

Another possibility is to take the train from Richmond to Kingston and
then pick up the K3 at Kingston station. Theoretically this shaves 14
minutes off the time each way - but it could be more, as the 65 is very
prone to delays.

Much depends on whether the OP wants the quickest or the cheapest route.
--
Paul Terry