No, it would require significant changes to human reproduction. Reproductive medicine is already a politically charged topic, I just can't see it happening*.
There are practical implications as well: I'm not sure that you can get there from an XY sex system. XX individuals who self-fertilize can only have daughters, but eusociality generally requires haploid males. Leaving aside the question of whether haploid vertebrates are even viable, you'd at least have to start with a sex system with WZ females and WW males. These animals exist, and some snakes have been documented to give birth without ever mating, but only to diploid WZ and WW snakes.
And that haplo-diplo lifestyle is also a major change, plants go through this which is why they produce pollen, tiny spores capable of hatching and growing short-lived male gametophytes, like if one's testes produced little mini-testes instead of sperm. So yeah, once you start borrowing plant-style haplo-diplo life cycles, you're pretty far removed from mammalian biology.
*It has been tried in the past with castrated slaves, but that's a bit drastic and also not an evolutionary procedure