Beep outside yard with a car (6)
I believe the answer is:
toyota
'car' is the definition.
(I've seen this before)
'beep outside yard with a' is the wordplay.
'beep' becomes 'toot' (synonyms).
'outside' means one lot of letters goes inside another.
'yard' becomes 'y' (abbreviation).
'with' is a charade indicator (letters next to each other).
'toot' placed around 'y' is 'toyot'.
'toyot'+'a'='TOYOTA'
(Other definitions for toyota that I've seen before include "Turn to a toy for a car maker" , "vehicle?" , "Car manufacturer" , "Japanese car maker" , "Japanese car firm" .)