If your jade plant has never been outside in direct sunlight before,that could explain the yellowing and shrivelling; even if plants get sunlight indoors, through glass, they only get UVA rays,but outdoors, they get both UVA and UVB, so acclimatisation is usually necessary. Most plants do not like being moved in and out so regularly either - it's fine to harden off a plant and leave it outdoors for summer, then move it back in for winter, but in and out every day is hard for them to adapt to.
That said, unfortunately your image of the insects does not magnify well so I can't tell how many legs they have to determine whether they are arachnids or other insects. Whatever they are, you don't really want them in the soil of a houseplant. I suggest you decant the plant from its pot and stand the root ball/soil in a bucket of water for a couple of hours, till the whole root ball is saturated. You may need to use some large stones or something to keep the rootball submerged, but don't submerge the topgrowth. The insects might just leave the soil on their own in an attempt to escape the water, but either way, once its had a good soak, shake around in the water to remove as much soil as possible without damaging the roots, gently assisting this process with your fingers to try to make sure there are no insects left behind, nor any eggs either. Rinse in clean water, then repot the whole thing in a new, clean pot, (or clean and sterilise the existing pot) using new potting soil. Water well, allowing it to drain down freely, then take it back indoors and keep it there,in a brightly lit (daylight) spot with sunlight if possible. Hopefully, it will recover over time.