Speaking of yellow jackets a few summers ago there was a hive on a swing in my parent's yard. It took me nearly all summer but I managed to be able to sit on the chair and read without getting attacked. They got to the point that they would walk on me and take food right out of my fingers! A bunch of good girls.
Wasps are also notably smarter than some bees. They also have better detail vision, so they can recognize faces and friendly people. That means they can get used to you and be like “meh this giant loud not bug thing sits here a lot and never messed with us so let’s ignore it too.”