I'd really like to see a photograph of these insects before helping you decide what to do about them.

If there is no harm to your plants there is no reason to spray something around to kill insects that are not harming the plants. They may be beneficials that are helping control the real insect pests which when eliminated could allow those pests to harm your plants.

I have found out what the variety is, the Brown Marmorated Stink Bug. I don't use insecticides but want to keep these things under control. I haven't even seen the praying mantises eating them and I don't know if there's anything else in the yard big enough to eat them. It's unpleasant to sit by the pool with the stink bugs landing on you and crawling all over the lounge chairs. Squashing them causes a nasty odor to be released. I also want to keep them from coming into the house, especially when it cools down. They are getting in whenever a door or window is opened. When I say there's a lot of bugs in the yard I mean hundreds and that's just what I see. Who knows how many more are hidden? Of course I have every host plant listed for them growing on my property : (