I just live with radio beep - I’ve never tried to stop it. Mine is a 1999 V-ref auto KZJ95R and I don’t hear the whirring noise. I don’t get the hazard lights either. The whirring noise may be the ABS pump (as SteveJB said). I think the whirring would come from the pump motor - see picture (red spot)
For auto fluid, I used the Aisin ATF6 from Roughtrax. Autoboxes do not drain fully and you’ll get out about 40% of the total fluid out of the drain plug. I drained out about 4 litres of cold fluid (it says only 2 litres in the manual, but believe me, about 4 litres comes out). Replace that amount and run for a short journey to mix the new with the old fluid. Then drain another 4 litres and replace with a bit less - say 3 litres. Do a short run and go through the level checking procedure. Transmission fluid expands as it gets hot so you can’t just drain out hot fluid and refill with same amount of cold (this could result in overfilling, which is bad). Top up as necessary until you get the correct level, using the level checking procedure. Overall, this changes about 66% of the total fluid. This wastes some of the new fluid but is a relatively quick procedure.
Lastly, in my experience, I have found Roughtrax to be excellent.