I have not experienced this behavior.
I have noticed that if I'm in drive but stopped with the brake on and someone walks in front of me, the sensors beep.
Any chance the weather conditions affect the behavior you are experiencing? If it's raining, or if the sensors are caked over in road slush, perhaps that might explain it?
There's a button on the console next to the gear shift that will switch off the forward parking sensors that you might want to use as a temporary workaround, but unless your problem is simply due to a need to clean the sensors, you will probably want to get it checked out at a dealer.
2018 Niro PHEV Gravity Blue