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Could be seat belt Buzzer / Door / Tailgate not closed securely warning Buzzer Stuck ON since car in park these buzzers do not activate but you said under movement sound occurs .. Mechanically I would Check Altenator for Proper Charge output - Then Ground wires for Battery / Corrosion needs cleaning ?? - Plus Dash Cluster must be Grounded Tightly .
check all of the door sensors. (buttons that are pushed in when doors close) they sometimes come loose and need adjusting.. easy fix once you find the bad one.
the 1999 elantra was not equipped with a warning buzzer for the headlights, if you leave them on.
the headlights will turn off if you shut the car off, but the parking and tail lamps will remain on
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