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Firefox allows me to disable the chime that indicates that an invalid key has been pressed in the console, but only on a per-tab basis. Is there a way to permanently disable this annoying sound?

You might be able to do it as a piece of system config in your bash consoles. Maybe one of these two techniques?

https://unix.stackexchange.com/questions/152691/how-to-disable-beep-sound-in-linux-centos-7-command-line

https://unix.stackexchange.com/questions/73672/how-to-turn-off-the-beep-only-in-bash-tab-complete