I think the circuit works by monitoring the 12V car battery, when some one opens a door the interior light comes on and takes current and the battery volts fall.
Q1&2 are a bistable, normally ON, when a door is opened the battery volts fall faster then the volts at Q1 emitter, so both transistors go OFF and allow the astable to squeak (Q3&4).
So connecting a 1K to Q1 base would be one probe, the other is the -12V (earth), the squeak would happen when the probes are shorted.
Frank