That's the main reason I had mine removed....red wasps.
I love my palm trees, so I’ll just keep trimming until they are too tall to be a bother.
One trick:
Spray them with the water hose FIRST. Get the stream on the UNDERSIDE of the fronds, where the wasp nests are. If you see a bunch of wasps suddenly fly out, then get the insecticide spray and use accordingly.
I once grabbed a frond to cut with the loppers and suddenly my whole hand felt like I had just grabbed ahold of a live electrical wire. I knew immediately what it was and have been extra careful ever since.................