I thought I'd write to let you know you are not the only one that has this issue. I have the same intermittent problem but have't payed enough attention to it to narrow down what the cause is. I'll try pulling the key out slower though.
Nope, this issue is not unique, as I have also noticed the same beeping, and it does seem to occur when I pull the key out in a rush. Not sure of the 'benefit' of this 'feature', but I'm likely one of many that has this.
Some of the folks over on SCOA say you get the beep when you haven't given the computer enough time to shut down. Don't know if that's true, but mine will make the beep only if I quickly pull out the key after turning the car off. The beep stops if I reinsert the key, wait a second and then remove it.
Yup. Mine does the same thing. At first I thought maybe it might have something to do with turning the car off before putting it in park, but there does not seem to be any rhyme or reason. Other than if I take a moment before removing the key, that does seem to help. Minor annoyance, but good to know it's nothing fatal.