JCL, is the coding can only be done at the dealer? If not coded what are the symptoms? Constant beeping when towing or only when reversing?

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Current:
2017 640Xi Convertible
2011 Acura MDX
2018 Santa Fe

Past:
2013 Honda Accord
2008 Acura TL Tech.------2004 BMW X5 4.8is----2004 Acura MDX Tech
1994 BMW 525i.----------1994 Lexus 300 GS.----1994 Acura Legend GS
1991 Acura Legend LS.----1991 Honda Accord.----1991 300ZX twin turbo
1996 Buick Regal GS.-----1984 300Z 50th anniv.--2002 BMW X5
1982 280Z