Hello,
I checked with an owner on same - who reported the issue
As per him he is driving an AMT and the issue was resolved on its own - but he has reported same to Maruti Suzuki Workshop, who first claimed that he was driving rash - but he denied as he's a sedate driver who drives in relaxed way. Anyhow the issue was resolved on his own and he has not faced it again.
Unsure - whats the reason of beep, but advisable to report it to workshop and report a complaint to Maruti Suzuki too through Email so that workshop can do immediate diagnostic check on same
Hope should help !!