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I find the beep very annoying, but at least it is not as bad as the Avensis I used to have. On that, if you drove without your seatbelt on (which I only ever did very slowly inside a car park when I was moving the car a short distance and was about to get out again) it would beep and then BEEP and then SCREEEEECH at you.
I always wear my seatbelt, and the ONLY time I forgot was on the Civic test drive! I was so busy working out what all the controls were for that it slipped my mind.
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