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Beeping sound while driving


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I recently bought a 2012 Toyota Verso, I have no complaints about it. However, ever since I bought it, I've been wondering about one thing. Sometimes the car beeps while driving. I have versions with an alarm, navigation, manual gearbox, automatic air conditioning, and a reversing camera. Could someone tell me what this beeping means? Sometimes I hear a single beep and sometimes I hear a double beep. I wonder if it's because the car sometimes tells me to change gear

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