Wasp and hornet spray:
https://www.lowes.com/pd/Spectracide...Killer/4480265
In daylight watch coming and going to identify the nest entrance. Like all bees, hornets etc, they wont bother you if you don't poke their nest.
After dark, with a flashlight. Put on your nylon pants and rain shell just in case but these guys need light to navigate. Bring a shovel. Saturate the entrance with the spray. Wait a bit. Dig a bit, if action spray more. If no action, dig a bit more and spray again. The actual nest is normally small, baseball size and not far down. Dig, spray, dig. Done now go pour yourself a beer.
Have done it many times, beer included.
Alan