Can be done with VCDS no problem.
One this very forum you have a nice tutorial HERE , or alternatively see HERE (in German) for another way. You want to disable both "Warning tone when closing using interior button or key" and "Warning tone when opening using interior button or key".
Also be sure to enable closing using the keyfob and the interior button...right now you can only close the tailgate using the button on the tailgate itself. When doing this mod, you can open and close the tailgate using the keyfob AND the interior button...so much easier, especially when you drop someone off somewhere, and they walk off without closing the tailgate...no need to get out of the car anymore!
Tutorial for that HERE and HERE
One remark; In order to do the tailgate closing mod, you need to enter a security code to access the controller. I had 2 mates try, using a Chinese clone VCDS cable, and couldn't get it to work...I found someone with genuine Rosstech VCDS, and it was done in 5 minutes...so make sure you try this with a genuine cable, because it won't work otherwise I'm afraid!
HERE another list of possible VCDS options, again in German, or HERE a very comprehensive list on this forum...
1. ALWAYS get an "auto-scan" of the ENTIRE car's modules so you can go back to default settings if you mess something up!
2. Just because someone on the internet sais you can, doesn't mean YOU can. Every car is different, some options are universal, but it depends very much on which modules you have, what week your car was built, etc.
If you scoot over to Belgium I'd be happy to help!