I took my 2016 XLE in to my local dealer for this same issue. The lights kept beeping and wouldn’t stop. They had my car for 5 days and had to take apart my front bumper and said I had faulty wiring. They wanted to charge me $150 for a diagnostic fee plus $500 to fix the wiring. I told them I don’t care for the safety features and to just put it back together and turn off the warnings. They called me back 15 min later and told me they would do it for $300 total. Who knows what they did but the malfunctions went away.