Sounds like a door/liftgate open warning.
Maybe it was intermittent, and opened itself momentarily not long enough to illuminate the display.
Open the driver's door while moving in D, it should make the same beeps.
My Jeep is a chick magnet with reverse polarity.
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2000 WJ, 4.5l, AX15, 242 D60/14b, 5.5" lift front, 7.5" rear. Ford Expedition rear coils, Ram 350 shocks, JKS, IRO Long Arms, cool Badlands flag thingy.
1987 XJ - Gone but not forgotten