My 2006 sedan had this annoying problem and others I have heard.If this is the same situation here is what I did:
The dash directly behind the steering wheel has a half rounded top that
meets a plastic underlip.These peices are independent of each other.Every time you vibrate or hit cracks,bumps in the road it chirps and drives you crazy.Easy fix though.
Buy a plastic epoxy and roll the epoxy(need) it in your hands about the circumfrence of 1/8"round and 2"long is all.Most epoxies are white.But when you press it tightly along the crack where two dash pieces meet press it up and under where it won't show.Take your time and it will look fine.I repaired mine 2 yrs ago and it never returned.