Several things, the "chirps" duration may be short, but if a little RPM (throttle touch) is applied, does the chirp change the duration or the the pause in-between the chirps change its frequency - rapidity or occurs faster only to slow back down to that gentle chirp when you let off the throttle?
The only reason I mention this is both the Sigma base motor 4-cylinder and the 1.0L have a similar design of using a waterpump running off the outer serpentine belt but enclosed inside a housing containing the timing belt.
That chirp may mean a squeaky water pump bearing noise that slowly follows RPM in occurrence - because the pulley is running at belt speed, but due to it's shaft being much smaller - the conversion from the belt speed to the shaft rotation RPM is a REDUCTION of about 4:1 so the belt has to travel a bit faster to even notice the noise in the chirp duration changes - but by then the engine noise can drown out the effect.
EDIT: Sorry - got pulled away...to continue
The other devices like AC and Alternator on the serpentine - will vary their chirp directly to the RPM change - so a slow change in RPM and the Chirp follows that change? Then either the AC - Alternator or the tracking of the belt across the waterpumps pulley surface - if the belt shifts or wanders the pulley surface (referring to the belt seems to want to wear the water pump pulley surface in a larger width than the belt usually would follow) - then the belt is causing the chirp and it's worn.
So if you've got service history on it, if they have not changed the belt - best to try that route versus further in-depth diagnosis. For if the chirp returns - then at least the belt is changed so that is ruled out as the cause. If you put a lot of miles on it - then the belt change even if from a previous service job done - it will help in finding the root cause by replacing the belt - if the chirp returns or goes away - - the other methods are to help you diagnose which one of the other parts of the serpentines route are possible causes.