I have a "beep" aprox every 3 mins. No alerts on the display. Just started happening. Had this on my 05 also and could find no reason just went away. I have closed and reclosed the doors thinking maybe this is the reason. Got me. The dealer was no help with my 05.
HA! I had something similar happen to me on Sunday. I took it to the dealer today and they could not replicate it. Makes me wonder...