Good afternoon, thanks for all the replies. I have good news. The beeping stopped while I was driving home this afternoon. I am pretty sure that there is some connection between the beeping and CarPlay interactions with my iPhone. Last night when the beeping started, I had been using google maps with phone plugged visually and audibly communicating via CarPlay. When I arrived at my destination last night, I unplugged the iPhone and the beeping started. Or did I shut down the app and then unplug it? Who knows exactly what combination of things I did that kicked it off.
Anyway, this afternoon, I was driving home from somewhere and once again using google maps via CarPlay. I got partway home, realized I did not need navigation any longer, turned off google maps while the phone was still plugged in. Then, miraculously, it stopped.
I would love to how all this happened so that I can avoid it in the future!