Hello miketheeditor,
If your AirPods Pro are beeping unexpectedly, they may need to be reset to refresh their connections. We'd recommend resetting them to test this out further. Here's how you could do that: How to reset your AirPods and AirPods Pro
How to reset your AirPods and AirPods Pro
You might need to reset your AirPods if they won't charge, or to fix a different issue.
1. Put your AirPods in their charging case, and close the lid.
2. Wait 30 seconds.
3. Open the lid of your charging case, and put your AirPods in your ears.
4. Go to Settings > Bluetooth. Or go to Settings > [your AirPods].
* If your AirPods appear there as connected, tap the More Info button 
next to your AirPods, tap Forget This Device, then tap again to confirm.
* If your AirPods don't appear there, continue to the next step.
7. Put your AirPods in their charging case, and keep the lid open.
8. Press and hold the setup button on the back of the case for about 15 seconds, until the status light on the front of the case flashes amber, then white.*
9. Reconnect your AirPods: With your AirPods in their charging case and the lid open, place your AirPods close to your iPhone or iPad. Follow the steps on your device's screen.
AirPods can be associated with one Apple ID. If you want to use AirPods (3rd generation) or AirPods Pro (1st or 2nd generation) that someone else has used, they first need to remove the AirPods from their Apple ID.
* When you reset your AirPods, the settings for your AirPods also reset. You can change your settings again.
After you reset them, connect them to your device and test them out.
If the issue continues to occur, then it would be best to contact Apple Support directly: Contact Apple Support
They'll need to take it from here.
Take care.
