This is strange. Perhaps try reprogramming all of your key fobs in case the system is getting confused somehow? The procedure is described on
page EL-309 of the factory service manual. It may help to open up and clean the key fobs thoroughly using isopropyl alcohol (91% preferred) in case something is gumming up some contacts and causing the panic alarm to go off.
I will check for technical service bulletins relating to your issue soon.
EDIT: I found no related TSBs on your issue. The dealer may be the only option in this case if reprogramming and cleaning the key fobs doesn't help - NVIS re-initialization may be necessary. There could also be some electrical gremlin relating to the door switches, too - maybe some frayed wiring that occasionally doesn't make contact, leading the car to think that a door opened briefly? I'm running out of ideas.