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Toyota calls the beeping an "answer-back" function. It's new for 2009 on the Tacoma; other Toyota models have had it for a long time.
Here's how you toggle the answer-back beep off and on for the factory keyless entry (not Toyota's VIP alarm add-ons) on 2009+ Tacoma models:
1. Open the driver's door, and insert the key into the ignition. Leave the door open.
2. Remove the key from the ignition, and within 5 seconds, re-insert the key and then turn the ignition to ON.
3. Wait at least 10 seconds, but less than 20 seconds. After waiting, press a button on the remote twice. Press the same button two times - don't press two different buttons. The system will acknowledge with a beep if you did it right.
Toyota's instructions for this sort of thing are very literal and must be followed EXACTLY. It's helpful to use the flashing ":" symbol in the clock to count the seconds in step 3.
If you disconnect the battery, the setting will return to the factory default setting of ON.
2016 Highlander Limited Platinum
2015 Tacoma DC SB TRD Sport 4x4