Most likely it was the reversing sensors picking up the ground as the back wheels made it on to the tray. I have the same happening reversing out of the garage and about to  go up our mildly steep driveway. 
I would guess that in your case the beeping would have started just before the back wheels made it onto the tray and steadily slowed in the rate of beeping as you were winched up the tray (moved further from the road).
				
			 
			
		 
			
				
			
			
				Cheers,
Sean
“Only two things are infinite, the universe and human stupidity, and I'm not sure about the former.” - Albert Einstein
			
			
		 
	
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