The markings don’t match Ropalidia plebeiana. Those prominent yellow bands and their placement (in addition to the dark body colouration shown in the 3rd photo) fit better with Ropalidia impetuosa but unfortunately the visuals aren’t clear enough for me to be sure. There aren’t any current NSW sightings on iNat for this species, though ALA does have a couple of sporadic sightings down south (one just over the north-east border of NSW & another in VIC). For now I’ll Verify it under Genus-level with a Suggestion at Species-level😊