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Loud beep when turning on and throughout journey

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I have had my Toyota Yaris Hybrid 2018 for 4 months now and this morning when I turned on the engine, it made a very loud beep at me - louder than the normal sensors. This flicked between being continuous and intermittent but would go on and off every minute or so. No warning lights came on and nothing on the screen. There were no issues with the car - visually or when moving - so I drove a short distance. The beeping continued for a few seconds every minute or so. I would appreciate any advice! 

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