A general observation only:
If you planted milkweed for butterflies then I'd guess you've found your target audience! I don't know what moth or butterfly that will be, but is that why you planted these? (I hope so!)
Wasps tend to be beneficial, so again, not knowing the specific wasp (I start looking for the Cicada Killer wasps this time of year in my yard) if they are active in areas that don't have high human or pet traffic, it's best to leave them alone and let them eat whatever spider or other insects they tend to prey on.
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