why is my 2006 b9 Tribeca beeping when I go around curves and when im parked?

Hello, there must be some kind of warning light or device that is activating at the time beeping occurs. It would be hard to say unless a technician could experience this and see what related functions could be occurring at the same time. I'd recommend a local shop have a look with you; probably would road test at no charge initially. https://repairpal.com/subaru-within-10-miles-of-rochester-michigan-48307

When you hear the beeping sound .. Any unusual lights turning on in the Instrumen cluster that may be an indication? ... All gauge readings look ok?