This beeping is likely a warning regarding something that is not critical, but wrong or broken. It is advising you about the problem and you should identify the cause.

There are only a limited number of events that will cause beeping and only a limited number of them will cause repetitive, intermittent beeping.

Review your car's manual in sections regarding problems, errors, warnings, dash warnings, and, depending upon your car's manufacturer, perhaps a few other topics.

Use the manual's index and table of contents to identify the pages that can contain the information specific to your car and model.

Have the problem remedied before further damage is done.