Applies to Samsung S5 with all the latest updates as of posting date.
After researching possible reasons for a called person hearing a beep and discarding most of them, I reviewed all of the setting for calls.
Was able to fix the problem by:
Settings->Sound and Notification->Other Sounds->Call->Noise Reduction
TURN NOISE REDUCTION OFF (SELECT BOX SHOULD BE BLANK)
I had turned this on thinking it would enhance the privacy of calls, what I was not aware of was that it beeped once a minute (only the person you are calling can hear it) and was really annoying for the people you are calling.
Hope this helps others - been a problem I've been trying to fix for a few months.
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