That is already done and now I am troubleshooting the wiring. But it take me a week to finish that. Meanwhile, I need to disable the beep if possible.
I can relate I've been slowly working to the root cause of this same (stupid) Intermittent beep.
Problem is there appear to be several root causes, and no way to "turn it off".
[unless someone can locate beep.'speaker' ?]
So, check codes & work to remedy them:
Check Emergency brake activation switch like Matt said.
Check brake fluid level & sensor in cap.
Pull ABS wheel sensors - 3 of my 4 had some crud built up inside so clean thoroughly used toothbrush & compressed air.
I'm now got a new BLS brake light switch on order it can go bad internally
& contribute to the mess.
Since I've done these things it does it far less often.
I reset it by pulling over briefly turn off engine (key out), count to 3 then restart & drive - most often if cannot do it again same drive cycle.
These insane complexities are the bane of w163's - and on bad days have me longingly looking at Sequouas & Explorers wondering if they give their owners fits @ 10 years/ 100k and up ?!
David in Texas