I think they do. I’ve done some risky things to bees in a bee hive and not been stung. I’ve watched bees warn me. I’ve watched them crawl around trying to escape a threatening situation. They behave very much like I would expect an animal to behave as though it knew the stakes were ultimately high.
But when the danger pheromones hit, all bets are off.
I wouldn’t try any comparative tests with wasps in a wasp nest.
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