Dreaded three bleeps

Hi everybody. I would like some help please on our a4 b5 1.8 non turbo.  1999 model.

The car has had a lot of work with new bearings, discs, pads, shocks, cv joints new oil pick up, water temp sensor, airflow meter, oil cooler and seal and pcv hoses.

The car has now thrown up three bleeps when driving. Mainly when you turn right. I have checked everything and can't seem to find the reason. Car has oil pressure, brake fluids are fine and full, water levels are good. Although a slight leak fro. Heater matrix which is on the list. There are bo warning lights on dash although the lcd screen is knackered like on most audi's. These 3 bleeps are driving us insane now. Anybody have any ideas on the cause ??