You can reduce it to just a single beep on a Prius Prime. Either yourself with a tool like Carista or at a dealer who may will do it for free. Ymmv.
You need the plug in thingamabob and search for a code and change the code. I'm completely clueless on how, but for me, I took it to a dealer, they plugged in the thingy and changed a code. Others in here actually have the tool and have done it on their own.
You'll also need a Bluetooth OBD2 unit. I posted a step by step procedure using Dr Prius and an old Samsung S7 galaxy phone a while back; but any android peripheral should work. Dr. Prius & the 2021 Prime LE | PriusChat Good Luck