When we get calls from a customer regarding this situation, we have determined that is usually about fertile queens that have laid unfertilized eggs at the end of the season who have mated, having done this, they hibernate or (over winter) in your attic.
In spring when the wasp come out the calls come in. The wasp will wake
up from hibernating in your attic and come thru light fixtures,
chimneys, and sometimes vents into the inside of the home. They will fly
around the top of rooms and eventually will rest in window areas. That
is a better way to notice them than to have stepped on one. If this is a
problem pest we have the control method to rid your house of them and to
ease the worry of a stinging insect inside your living space.