I know that it can be done on a C230, but not sure of anything else. Technically it is a "beep" and not a "chirp" when alarm is armed/disarmed?
Instructions:
At the dealer, using the MB factory handheld laptop tester, go into the car's computer system.
Go into Programs
Locate the Rear SAM Program
Locate Body
Select Netherlands
Now the car does a "beep, beep, beep" when locking/arming and a single "beep" when unlocking/disarming
From the instructions, it appears that it should work if the body style is listed. In doing this modification you will disable the panic feature on your alarm.