I have it randomly happen on my 2020 x rs rr. Thinking maybe when I turn it off with the button when it’s not in park? Because of the randomness is the only reason I think it’s because it’s not in park. I have no concrete info on this but an idea. Beep and chirp are the same sound.
Also blr you have gone from saying it’s a click to a chirp on your 2020 x3 and there is totally difference In those two sounds.
I get a chirp when I lock my Ferrari. I get a click when I pop the hood.