Our '22 L Eco will chirp - and this is not the lane edge proximity ding - at random times. When we're maintaining highway speed, when we're stopped, when we're ac- or decelerating. Very weird. Sounds like it's coming from the left half of the dash. Here is a video clip with dimmed road noise on either side of the chirp.
Hmmm....definitely something electronic beeping. Is it coming from behind the dash? Did you buy the car new? I'm wondering if someone installed some sort of device in there. There's nothing plugged into the OBD port under the steering wheel, is there? I'd, also, check the fuse boxes for anything plugged in. (That beep doesn't sound like any beep I've heard a Toyota make.)