S1 gear issue

Hi all...Once again I am asking for your knowledge and assistance in order to avoid the dreaded dealer. Great people and great forum.  I just reviewed the forum and could not find an answer to the following:  I have a 2017 Tacoma Access Cab TRD 4x4 Off Road.  I have recently noticed that I cannot shift into S1 above 20MPH but can below 20MPH.  If I try to shift into S! before 20MPH I hear a "Beep Beep sound" which is perhaps a warning sound associated with the transmission not allowing the shift into S1 below 20MPH.

1.  Can someone verify for me whether this is what you are experiencing if you have a 2017 Tacoma.

2.   Is the Beep Beep sound I hear before I can shift into S! a notice type of thing since I can sheft into S! below 20MPH.

3.  Is the situation I described above normal for my transmission and that I do not have a transmission problem but is normal for my transmission?

Thanks for your knowledge and facts in advance.