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2006 Honda Odyssey (EX)
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The door will beep if the van is detected to be in any gear besides P or N with the door open.
 

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Registered
2006 Honda Odyssey (EX)
Joined
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3,518 Posts
The van is in park though when this happens.
Sounds like the current gear is not being detected properly then.

A good start would be check for sliding door codes.

This video shows how you can do that by jumping some pins with foil in the driver's side footwell:
 
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