Do you have the Khaleej Times app on your phones? Some users with a range of Galaxy phones (e.g. S7, S9+, Note10+) were experiencing beeps too - and either putting the device in Safe Mode or deleting/disabling the Khaleej app appears to have resolved it for them:
Hello, i don't use Khaleej Time app but i have same problem. I realized that mostly problem occurs when my headphones plugged in to my phone. I have to reboot my phone every time problem occurs. My phone is A71. Please someone help.