Occasionally it happened to my MX and today extremely often... I called Service Center (Amsterdam, NL) and they said;
"Do you have Model X? Yes, then likely there is a fly in your car, a stray piece of paper/plastic or empty plastic bottle!"
They explained that the intrusion alarm in Model X can be triggered by a very small movement detected by the tilt/intrusion sensors.
I checked the car, just found a cobweb in the FWD window frames... no fly.. but no alarm went off since I cleaned the cobweb.
The service person expects Tesla to change the intrusion sensor sensitivity to allow flies to roam inside a MX without triggering the alarm.