My Emira has the same issue since day 1. The driver side front sensor beeps on red (the "closest" reading) whenever I stop in traffic or on lights (once every 5 stops or so). Took it to the service center and they fully replaced all the sensors of the car and updated the software... and it's still happening albeit not as often (once every 30 stops or so)
Also, it used to do a full beep for 4 or 5 seconds but now it does a small instant one (less than a second), and I still need to wait for the graphic to auto dismiss.
I'm considering this issue fixed since it rarely ever happens anymore but I'm pretty confident it's a software problem since after replacing all sensors it's the same exact issue with the same exact sensor. I have also noticed a weird new behavior that every single time I pull out of my garage that same sensor beeps maybe half a beep long enough to show the graphic but not long enough to show the red mark of thr sensor on the graphic. Not sure what this is about but it happens every single time. It's usually ok cz that's only once a day as I'm leaving to work. During regular driving though it's very rare now.
Also for what it's worth, the service center told me they've had a lot of the same issue reported and Lotus is aware, didn't give more details.
Otherwise the car is amazing and driving it is a joy, so I'm willing to forgive this as it's the only issue and is happening pretty rarely after the fix.
Hope this helps others!