What is causing my Lexus to make a beeping sound sporatically while the car is parked.

If the warning lights for the VSC and ABS system are illuminated while the vehicle is running, your vehicle is indicating a fault in the anti-lock brake and vehicle stability control systems. These systems utilize the same components to operate, so when a fault exists, it often causes both lights to illuminate.

A diagnostic test is required to troubleshoot these systems; I would suspect the "beeping" to be related to the lights being on, and the fault being present.

Sounds like the switch is bad. That would be a good place to start.

PDF]GX 470 - Lexus

www.lexus.com/pdf/service/GX470_LPS.pdf
LexusLexus Personalized Settings. Your vehicle includes a variety of electronic features that can be programmed to your preferences. Programming of these features ...

Without knowing exactly what the beeping noise is, if it is an electronic beep it could be a signal that your power steering fluid is low. When pressure (the steering wheel turning), is put on the system, if it is clogged or has low fluid it will strain the system and you get more of a squeal but Lexus could have a beeping to notify you The fluid is low. If you check the fluid and it is at the right level than your system needs a flush. It's about $80 at Jiffy Lube

HAVE CV (CONSTANT VELOCITY) JOINTS CHECED

You must have the dealer scan the system with a special tool to see what is causing this unwanted activation of the vehicle stability control system.

check solonoid for starter , battery wires , cable from switch to solenoid on starter ,

Did you forget to disengage the parking brake?

It sounds like neutral safety switch (park/neutral issue) 1 question; Does the car have anti theft device? Same symptoms is anti thereof device is active.

it sounds like you have a vacume leak check your hoses