I swear this happened to me yesterday too. What sort of beeping noise is it? For me it was a random, singular beep. It happened twice this week. It's similar to the green light one but slightly lower pitch and shorter. More of a "boop" than a "beep" Haven't poked around to find where else that sound is played, but it feels like a familiar menu confirmation sound. Same one or different?
ETA: happened while driving, streaming music via tesla music not bluetooth, no traffic light