My Tacoma started the chirping around 5k miles in when the AC was on and I just took it in to my dealer a few weeks ago. They replaced the entire compressor and it appears to have completely fixed the issue.
I have this problem with my 2024 Tacoma. After a few thousand miles it started getting 2 chirps at startup and then it periodically chirps every 30 seconds or so when the HVAC is turned on. The dealer is planning to replace the entire compressor.