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there's another thread with similar problem. for my 01 box,the lock light would go on and off intermittently, but only during driving. and depending of the state of the light, the car would/would not lock and beeped once.
root cause was cold solder joint in the door lock mechanism. I found this by wiggling the main harness going into the door mechanism.
this is how i found the cold solder joint.
this may or may not help in your case, but ...
good luck
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