2016 Toyota RAV 4 - What is this “chirping”?

My car has been making this “chirping” sound for MONTHS. I have no idea what it is. If I’m sitting in the car it is directly on my right side. But it’s hard to precisely locate it. All of know for certain is that it chirps when I turn the car on and it’s on the right side.

What is this? Can you help? What do I do?