The earliest you would get this is Dolinovondo in Virtuous Mission. When you enter from Dremuchij North, you'll see that it even emphasizes the use of a hornet nest to cross the bridge. Get close to it to where you can carefully aim at it and shoot it down. Since there is a guard nearest to it and not you, you will be able to watch the guard and any in its escape path run away from the upset insects. You can also gain the Hornet Nest ration from this.