Weird soft beep through Bluetooth headphones

Hey all. This is really hard to explain but I’ll do my best.

Sometimes, randomly, my phone will make soft beeps through my Bluetooth headphones when I’m listening to something. The battery isn’t low or dying, and the connection is stable. It just happens when I type sometimes, or open/close an app, or interact with a game (that is itself muted). It’s very soft, but it’s super annoying. It’ll just show up randomly, and leave randomly. But it always comes back. Anyone know how to stop this or what is even causing it?

Thank you!