Upon cranking my 01' 3.0 v6 ranger edge- I'm beginning to hear a strange intermittent beeping sound "beeeeep......beeeeeep. goes on for 5-6 min. then just stops. any info ????( kinda sounds like when you first open your door but continues while driving)

 

check to see if the air bag light lights up when you start the truck, the one in the gauge cluster. i bet it's burnt out. replace the bulb and the beeping will stop.