1995 3.4 V6 camaro won't start

Are there any warning lights present when it beeps? Seat belt warning light, door ajar light, traction control? anything?

There is a key in sensor, as well as a headlamp-on sensor that both can trigger the warning beep tied to DOOR AJAR. You can disconnect both systems one at a time to find out which oine is causing the warning.

did you RTM read the operators guide yet,
it tells you why all beeps beep and what lamps flash, (warning) and why. did you?
you turn on, the head lights, (what about 1st click , parking lights"?)
and does the dash cluster, show warnings of any kind?

if a door is ajar the system will think, you are exiting veh. with lights on and tell you, buy beeping ,etc.
but on my jeep it says on the dash DOOR, or on EVICs, (not yours)
the newer car even tells what door IS AJAR.
mine on shows , "DOOR"
the operator guide will say, check all doors for ajar, and get warning clear before driving....etc.

if you lost the guide here it is for free

http://justgivemethedamnmanual.com/jeep/jeep-wrangler-owners-manuals/

click the 05 link
ignore beeps, there are just too many .. i look at the cluster and learn to read it..
my newer jeep 08 can produce 1000s of errors,,,,, possible.
in fact the intent it to beep to tell the driver to look at the cluster
for in depth, causes.
see chapter starting on page 136'

once sound it makes is Check gauges chime. so check them.
and headlamps left on
and door ajar.

page 63
NOTE: If the driver's door is left open, and the headlights
or parking lights are left on, the "High Beam
Indicator Light" will flash and a chime will sound.
Lights-On Reminder
If the headlights or parking lights are on after the ignition
is turned off, a chime will sound when the driver's door

its a crude system, and evolved to complex in 2007.
"DOOR" or RF-door , on mine.
or

NOTE: A tone will chime if the turn signals are left on
for more than 1 mile (2 km).

search manual for
"chime will sound"

If I remember correctly there is a sensor in the seatbelt buckle. It might have worked its' way loose and your leg motions might be moving it enough to open or ground the circuit. Might be a good idea to check and see if something fell into the latch area, too.

Sounds like your charging system needs some attention.
1st check battery for voltage should be 12.50 or better with car off
2nd, start car check battery for voltage again should be 14.0 to 14.75 volts.
3 with running turn on headlamps and check charging voltage again if your voltage dropped to battery voltage your charging system is not working.

Thanks for choosing FixYa and welcome. I would say this is your reminder switch that is beeping. When the car is off, it will beep to let you know to turn off the lights. It probably isn't recognizing the car is on, only the lights being on. It could also be a sign of a headlight out possibly. I would say your headlight warning switch may be bad. Either that or the light. It is only supposed to go off when the car is dead and the lights are on. As far as the location of the part, I really don't know. This is just a possibility.

check for codes i think that your connector under driver seat is loose or corroded wires clean it and put it back again

hi from uk the beep may well be that your rearfogs are still switched on and is normally a beep warning the switch may be in on positio but the fogs will not come on untill you have head lights on dipped mode this is how they should work

if you drive slowly does it not start? ensure you do not having anything resting on your passenger seat. if there is a weight sensor in the seat for the seatbelt warning the car assumes sombody is in the passenger seat. or the sensor is defective to isolate this plug the passenger seatbelt into its lock and see if the problem goes away. (when driving slowly this may not start. the alarm may be set to go of after a certain speed)

note: keep all clutter away from the driver position after cornering or breaking, debris may fall into the foot well and interfere with the pedal movement. or fall onto the driver.

Sounds like a security system warning, must use scanner to accesss system. Hope this helps.