I think the issue boils down to the vibration motor they’ve installed inside this phone. It just makes these noises if it just vibrates for a fraction of a second. There was a brief moment during an update released a few weeks after the NP2 was released, but it got screwed up again with the next update.
You can actually check this out yourself, by changing the vibration intensity for Gboard:
Settings - System - Languages - Keyboard - Virtual Keyboard - Gboard - Settings - Vibration Intensity
Settings between 1 and 55 ms results in the audible sound of the vibration motor. However if you set it just from 55 ms to 56 ms, you’ll get silence, the phone just vibrates but you don’t hear that typing sound anymore. Set it back from 56 to 55 ms and you’ll get that “beeping” again.
It has been an annoying issue with this phone since launch, in fact for me it is one of my top most points of critic regarding the NP2. Sitting in a silent environment and then start typing and you’ve got all eyes on you, never had that happen with any other phone I’ve owned before.