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I don't believe I've ever heard my used Prius make the noise. I found the AVAS emitter under the plastic trim cover at the front of the engine...
Just a descriptive photo of the AVAS electrical plug removed.
The electrical plug tab (as I recall) faces the front of the Prius. Push the tab to release it with one hand and wiggle the plug to release it...
The AVAS (Approaching Vehicle Audible System) is located on the driver's side, behind the grill, but in front of the radiator.