This should be a warning if your seat belt is off or the door is open. If the car is driving and running good and there are no warning lights on the dash after it starts I would have a diagnostic test done by the dealer, about $45, and if that checks out let it go until you get a warning light. Try starting the vehicle with your seat belt on and connected and see if you still have the beeps. If you do I would definately have the diagnostic done. If it doesn't then you know what it is.
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