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Almost exactly a year later, and my car finally beeps twice.
I noticed when touching the door handle the right side door lock actuator would unlock in one go, but I could hear the left side actuate multiple times despite unlocking the first time. Turns out it actually was the passenger door lock actuator. Part number SU003-04107. Replaced it and the beeping went away instantly.
If anyone else faces this issue, the door lock actuators are most likely the culprit, even if they function fine.
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