Might be temperature related, my drivers door does this on really hot days on both the remote and the arm rest switch. Almost like it gets stuck either up or down if its high 90's/100's. If it was the remote alone I'd suggest seeing if its the batteries dying.
2001 4runner SR5, running 265/65/R17's factory size was 225/55r 15 or something like that. When I corner hard on a twisty road or canyon and get on the brakes at over ~35mph the vsc kicks in and makes that annoying beeping noise, if it goes for long enough or you get more on the brakes it pulses...