I keep a colony of Pogonomyrmex Occidentalis.
The queen used to come to the outworld with some regularity early on.
In my first configuration it was a long walk to the outworld, but it was fairly small and lidded. So i believe from the Ant POV, it was just all nest and no "outside" to be in.
As the setup grew and changed, it eventually reached a state of more nest space and much more outworld with open air no lids.
Once i had a fairly large ratio of outworld to nest space, the queen no longer left the nest space even when disturbed. And now they seem to have a sense of nest entrance, outside, and deeper inside the nest.
When they get disturbed these days there is an obvious move towards deeper into the nest areas with brood and queen, away from their exit to "outside."
While defenders rush to mob the entrance to the nest area.