As Im driving the car is beeping. But when I stop at a stop light or stop sign, it will stop. But as soon as I put my foot on the gas it starst back up. What could this be???

It could be but most times it's the crank sensor...does it cut off still?

Check Fuel pressure at the rails and rail pressure regulator

if the beeping is coming from under the dash panel it may be the main fuel pump relay also I would check all the battery and engine grounds

try getting a transmission service,might get you a little more life out of your transmission but at this point you need a new transmission

My thought is to check and clean anything that has to do with idle air system. How long since a tune-up? Any applicable trouble codes?

Hi could be your idling speed needs adjusting slightly

It's your exhaust mounts or broken exhaust bolts. It does it in drive st idle n under load because the motor is sitting in rubber mounts made to dampen vibration. Therefore the motor tilts to the left in reverse pulling the exhaust away from your under carraige, and to the right in drive causing the loose exhaust to vibrate against something. Check your heat shields also. They fall apart n do the same noise. Piece of cake.

power steering only works when motor is running. If car is running and you are having this problem it could be as simple as low power steering fluid...have it check...good luck and hope this helps some.

What model and year car do you have??

try this simple test
apply the hand brake
start the engine
does it idle ok
put your foot on the brake and apply the brakes
does it still idle ok
if it stalls or stops , replace the faulty brake booster unit