No. I have never taken it apart.
It just happened today when I took my Mavic air out. I thoght it was the update but after updating, it is still beeping.
Updates aren’t a cure all, but since it’s something that can be easily done, it’s seems to get a lot of attention. And some updates will provide more problems than you need, so go easy on them.
Try doing a stick calibration. Not sure because mine hasn’t ever given me that problem, but I have had a phantom controller do what you’re describing. Also have seen it on the mp controller.