No, there's no way to disable it, it's built into the programming of the BCM.
You should try to lock the keys in a new Genesis sedan. It's impossible, even with the vehicle NOT running. Stand outside the vehicle with the key in your hand and lock the doors with the driver's door switch (inside). Shut the door. Car stays locked. Do the same thing again, but this time throw the keys on the driver's seat after you lock the door but before you close it. Once the door shuts, the car beeps and the doors unlock. It's impossible to outsmart, I've tried... lol.