I hear several beeps from inside the car while driving.

I would just advise to meet with a technician that has a diagnostic tool which can try and read any stored diagnostic trouble codes for all vehicle modules. There could be something occurring with a warning light that's burned out, for example. It's hard to know without hands on testing. Perhaps a technician can road test your vehicle while the problem occurs to get some clues. www.repairpal.com/repair-shops