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To resolve the immediate issue of getting the car home, cycle the key from off to on 3 times in the ignition. This will turn the alarm off so you can drive the car home.
Resetting the security without the key fob is pretty much impossible on these, but if you can use it just to cycle the locks one time it should stop going off when you open the door and turn the ignition on.
What I see the most when the alarms start acting funky is either a bad remote or water intrusion into one of the lock cylinders. This can cause the alarm to go off for no reason or to act strangely.
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