Being very allergic to bee stings, I am very watchful and careful of where I step. Also, although I am allergic, I do not show fear when I step into or near a yellow jacket or other bees nest and have never been stung while in the big woods or even doing yard work. I think that the scent a person gives off when they panic or have fear of being stung, is what gets most folks stung! I always seem to get stung when I get too close to a nest somewhere on houses or sheds. Some bees just don't like you getting too close and will attack on a hair trigger. I carry an EpiPen whenever I am in the woods or doing yard work in the Spring, Summer or Fall.
Remember to not panic or show fear when you walk into them and slowly back out and hopefully you will not get stung.
Take care and be safe!
Frank