I never heard or read of any radio challenges, either. But, I said that it didn't respond to challenges by radio.
Liberty was challenged for identification by signal from the torpedo boats, but both parties' views were obscured by smoke. That would be the time to use the radio to respond.
NSA piece was an interesting read. I think it confirms that it was a series of mistakes and not planned or intentional. You don't think it was intentional, do you?
(Sorry about other post - hit a wrong key somewhere in the middle of typing it. Even the link you posted said that the torpedo boats challenged the Liberty.
And, once again, I said it did not respond to challenges by radio, meaning it did not respond by radio to challenges, not that the challenges were made by radio.)