4Runner TC beeping

My Friend has a 2002 2wd 4runner with the 5vzfe engine. His car doesn't have lockers but has a TC button to turn it off but when he tries to slide it in dirt, it beeps at him and then brefly turns TC back on. Anyone know why it does this and how can you get rid of this feature?

 

I don't know much about the 2002 Gen. On mine (2019), if I press the button quick, it only turns off traction control. I have to hold it down to turn off stability control (vsc). And I believe after I reach a certain speed, it's automatically re-enabled. 2002 might behave the same way.

 

The late 3rd gens had a Yawl sensor that would beep/chirp to let you know that you are getting close to flipping it over, I would guess that is the noise/alarm he is hearing.