I read that if the beeper goes off it means foreign matter in the oil, or black death (sludge). Since it sounds like your cars are fairly new, it probably isn't sludge if you maintain them well. Sensors are more trouble than they are worth in my opinion. The first car with sensors galore was a Cadillac and it was a horror. Every single time the catalytic converter had a hiccup in heavy traffic, the 02 sensor would set off a sensor chain reaction. The LED would flash codes like HAL in Space Odyssey. Less computer more mechanical I say.
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