Blueyo,
Hahaha.... You're not the only person facing this beep sound. I've been hearing this sound almost everyday for 4 months going to and coming back from work. I've gone under the steering wheel, under dashboard, over dashboard just to find exactly where does the sound come from but unsuccesssful. The beep is admitting sharp sound and it really annoys me. I've drove many cars but this beep sound is the worst. The words I can express are like follows > F##K###G S##T ANNOYING BAS####D...
Like the speed limit, Mazda Workshop does not comply on getting rid beep sound or speed limit for the sake of warranty issue...