I was listening to DJ Bueller's Breakfast Beatmix on Sirius XM this morning in the car.
After "Domino Dancing" ended, another song played that had siren noises. I think there was a lyric like "if you want to" but I am fuzzy on that.
This track seemed to end the Breakfast Beatmix playlist, right before the station returned to a their normal rotation with "Whisper to a Scream".
Sirius XM lists songs before and after the Breakfast Beatmix block, but nothing during.
The only other detail I could mention is that it sounded like something late 80s or MAYBE even early 90s.