Paper wasps usually are fine unless you get too close. I opened up the old toolbox on my grandad's tractor (parked outside, lid slightly ajar) as a curious kid. I was greeted by angry buzzing followed swiftly by stinging.

I also have some on the outside of my carport where the roof overhangs a bit. I could harvest my peppers a couple meters below them without issue. Once I got a little close and one did the diving/swooping "sod off" manoeuvre, but otherwise never bothered me. Their nest got taken out by a typhoon a few days ago, however