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We understand most of your questions quiet well. It's been a long time since I studied biology and I'm not working in that field anymore so I won't be able to give you most answers from memory, but if you are interested you will find a lot of research on those topics. It's mostly really rather automatic responses through pheromone systems with involuntary responses. Especially the wars of ants are quite well understood in that regard.
Cephalopod have different but also rather complex brain structures. Again - insects just completely lack higher brain anatomy. If you into those question I would highly recommend you to take an introductory lecture into neuroscience online. We don't understand everything but we understand some things quiet well.