"The noise is the exhaust valve servo motor, usually due to being out of adjustment, sticking or software update required."
I cant see how that is true unless the exhaust valve is often out of alignment after refuelling etc, along with the anecdotal evidence that we all experience the beep and it doesnt cause an issue, leads me to think the diagnosis is wrong.
Although i disconnected the rear one it is still there so might be that. As for the one under engine i cant remember if thats there or not. Im pretty sure i left it in as i remember it being a tad tricky re attaching the cable.