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It doesn't sound like any 'alarm' signal associated with the vehicle. If it has done it only once I wouldn't worry about it unless it repeats itself. Are you certain that it wasn't a noise which came from something else electronic in the car (i.e.; your cellphone, or similar item for instance)? If it repeats itself, call a Tyoota dealer's service department and ask.

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12y ago
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Q: Why Toyota Highlander 2002 beeps in turns moving about 30mph into a left sweeping turn. no scan codes came up. it did this only once so far?
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