This has been covered a few times previously, search for 3 beeps on startup and you'll see.
Although not fully identified it has been suggested it is brake related, some say a low fluid level sensor, some say handbrake etc.
I used to get it very very occasionally, to the point where I was parking in the same place the same way to see if it happened again!
I recently had new front pads/discs which would have in-turn made the fluid level higher - to date (and touching wood) I have not heard the dreaded beeps since.
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