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Subtle beep at 25mph

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I have a 2013 MS 60 (pre-AP), and I'm pretty sure it's done this as long as I've owned it. After starting up, the first time the car hits 25mph, there is a subtle single "beep" sound. It's easiest to hear with the radio off & HVAC off. It doesn't seem to come through the speakers but maybe comes from the MCU itself? Rear-seat passengers can't hear it, which has led my kids to believing I've made it up... but it is undoubtedly real, just subtle/quiet.

I can't be the only person who's noticed this. No idea which models exhibit this behavior but it can't be only mine, right??
 
Mine beeps when I start out, and I could never figure out why. Finally I noticed the auto garage door closer was starting when the beep occurred. Check the screens and some activity should be popping up at the beep, or recording an event in the Warning Notifications or in Controls → Service → Notifications.