Murano Horn/alarm goes off inside vehicle while driving

My girlfriend’s 2011 Murano just started emitting a loud, short horn-ish sound
(not the same as the car horn) INSIDE the vehicle (she thinks it originates in
the driver’s door) whenever she starts driving- a second or two after she
starts, then about every ten minutes or so. There are no associated lights. Her
brakes were also recently replaced but I can’t see what that would have to do
with anything.

Is this a fault with the security system?

Thanks for any help!