I have the same problem with my 2017.5 Murano. The beep and the sensor icon seem completely random. I've tried to keep track of weather, traffic, cars cutting in and out in front of me...can find absolutely no consistence. The beep sounded and the icon came on one time at a red light! The sensor has been replaced once already, but my insurance company paid for it because of a very minor front end collision. Within the past few months, I have had the same symptoms as all other posts at this site. I had a discussion with the dealer, my service advisor, the service manager, the mechanic who diagnosed the sensor's problems. Initially the dealer said "Sorry, the sensor is bad but not covered by warranty.' My cost to replace the sensor, though its problems were no fault of mine, was $1,600! Any way, after discussions with the Nissan people, and my insurance company, Nissan told me they would replace the sensor at no cost to me. Great news of course, but what happens in six months when it goes out again? My insurance company approved the claim as an "exception"...something normally not covered. Good of them, but while they were discussing the claim and its ultimate resolution, Nissan did the right thing and agreed to replace the sensor. However, there will be at least a 3 week delay until the part comes in. I experienced the same delay the last time the part was replaced. Aren't many of us asking...why the delay? Are there so many of their customers crying "foul" at this situation? Many non-answer by Nissan, but I still have to admire their ultimate decision to cover the sensor.