Is it a stock OEM alarm from Toyota or is it aftermarket?
If its a stock alarm you could read your owners manual if you
have one and there should be a section about alarm settings
but if you dont have a owners manual you can always google
it and find out something about it. But if you have an after
market alarm you could easily go to any alarm/stereo shop
and ask them to reconfigure so it can beep when you lock it
expect to pay something nothing is free these days sadly
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