I had a somewhat similar experience - as I recall, most beeps happened as a result of a few stop lights with too-short yellows (e.g. the light changes yellow and you, even though you are below the speed limit, either panic stop or run the red light)

The only possible fix as a driver was to try to develop an intuition for spotting “stale” greens and start slowing down despite the green, anticipating the yellow.

I feel at least partially vindicated by the fact the lights in question eventually had their yellows extended.