So I've finally gotten around to replacing the dead trailing coil in my FC and the leaking slave cylinder. I noticed on my drive home that this beeping started and my power steering was acting kinda iffy.

I've looked at the FAQ and it says,

"1-beep, pause, repeat - in case abnormality of speed sensor signal:
In case broken wires or short circuits occur to sensors or harnesses, the buzzer sounds 60-seconds after the engine speed signal of 2200 rpm continues for 18-seconds"

Checked PS fluid, level is good.
PS belt doesn't slip or squeak.

Does anyone here have any clue as to what it could be? Any help is appreciated!

Video is

 

Have you removed the steering wheel recently?

 

The PS computer is telling you it's not getting a good signal from your speed sensor; which is located within the gauge cluster. the FSM has pretty good detail of narrowing it down and what to do.