might be hill start assist kicking in if you are shifting from reverse to forward while still rolling backwards a little. I'm guilty of that every once in a while and get the beep.
This started happening after leaving it parked at airport for a week. When my 4Runner sits for awhile off, overnight for example, when I put it in reverse I hear a quick single “beep”. What is that?
were you able to figure this out? I'm currently experiencing this as well; when the vehicle goes from Park to Reverse i hear a single beep. I think i've narrowed it down to my brakes not fully disengaging or maybe something with ABS?