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A two-step method involving continuous screw-extrusion steam explosion (CSESE) pretreatment and esterification in supercritical carbon dioxide (scCO₂) is used to prepare long-chain fatty acid-modified jute fiber. The weight gain percentage (WG %) of CSESE-pretreated jute laurate (JL) was 110.7% when esterification was carried out in scCO₂ at 14 MPa and 100 °C for 2 h. The corresponding WG % was 105.5% when esterification was instead carried out in pyridine at 100 °C for 2 h. Scanning electron microscopy and X-ray diffraction indicated that CSESE pretreatment enhanced the reactivity of jute fiber, with esterification in scCO₂ simultaneously occurring on the fibers surface and internal walls. The glass transition temperature of esterified jute was approximately 119 °C, indicating that it could be hot processed over a wide temperature range. The esterified jute had an oil absorption ratio of 17.01 g/g, so it can be used as an oil absorption material.