Thank you guys for the head up,

Just came back home and checked on the car that left on position 2 for 5 hours; turned to 0 position and lock the car with key and no more beeping noise.

If the battery is dead, I will definitely replace it. If I pull out the battery and bring it to Autozone, are they able to check the condition?

I drive this car occasionally, should I get the AGM battery? Does AGM help battery stay stronger?