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I get it occassionally on mine. A thread on here says it happens if you lock it too quickly after closing the door, as if the immobiliser needs more time to set between closing the door and locking it.
if u press the lcok button for too long it will enable/disable the automatic locking feature. this might be whats happening as i only get it to alert me of when ive done this. all the rest of the time there is no beep the the noise of the doors locking.
mines set to auto lock etc and raid is on and always has been so nothing to do with it.
the beep Faz is on about is the alarm 3 beep im sure this other beep what the post mentions is like a squeak one sound from the boot area when you look the car.