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There is a key in sensor, as well as a headlamp-on sensor that both can trigger the warning beep tied to DOOR AJAR. You can disconnect both systems one at a time to find out which oine is causing the warning.
ignition switch broke or the car is dieseling the idle speed is too high throttle valve stuck open or the valves and heads full of carbon build up.causing preignition.
If you are using the smart key and you do not have it in the ignition, it will send a signal thru the car speakers to let you know that the keys are not in the ignition(beep,beep,beep,beep), and that they are to far from the sensor. Next time you are driving and the keys are in your pocket, pull them out and wave them around the speedometer. It will notice keys in car and the beeping will go away.
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