Have any Buddhist thinkers responded to the critique of the Brahma Sutras?
I think Nagarjuna's Mulamadhyamakakarika is the work you are looking for. Just like Brahma-sutras does not mention specific Buddhist sutras it debates with, Mulamadhyamakakarika does not mention Brahma-sutras, but it does methodically address the same points.

As ancient texts go, Mulamadhyamakakarika is way too obscure to be brought in here and contrasted point by point, luckily the details of the polemics between the two commentary traditions are surveyed in the book you mentioned, a modern (1980s) work "An Evaluation of the Vedantic Critique of Buddhism". The author concludes (emphasis mine):


  In this work, an attempt has been made to compare the interpretations by Shankara, Ramanuja, and Madhva of those sutras of the Vedantic texts, the Brahma-sutra, devoted to a refutation of Buddhism. An attempt has also been made to compare the interpretation by each Vedantic commentator of a particular Buddhist school's position with the actual Buddhist school's position as set forth in its own texts. It has been discovered that Buddhist positions were often distorted out of ignorance or deliberate intent, and that the Vedantic commentators proceeded to build their refutations of Buddhism on the basis of incorrect assumptions. It may have been the case that other matters were of more pressing concerns to the Vedantic commentators than the refutation of Buddhism. [...] In any case, however, it may be concluded that Buddhist positions have not been portrayed correctly in the Vedantic commentaries to the Brahma-sutra.


Another work that compares and contrasts Vedanta and Buddhism is Acharya Mahayogi Sridhar Rana Rinpoche's essay "Madhyamika Buddhism vis-à-vis Hindu Vedanta". Instead of debating with Brahma-sutras it addresses Swami Vivekananda's claim that Buddhism was an offshoot of Vedanta. Although it does not directly address your question, the essay is very informative if you are interested in comparative studies:


  In conclusion, I would like to sum it up by stating that Buddhism (especially Mahayana/Vajrayana) is not a reformulation of Hinduism or a negative way of expressing what Hinduism has formulated positively. Hinduism and Buddhism share a common cultural matrix and therefore tend to use the same or similar words. Even though they share certain concepts like karma and re-incarnation, their interpretations differ. Hindu concepts of karma and reincarnation tend to be rather linear, whereas the Buddhist concept is linked with pratityasamutpada. [...] However, all similarities to Hinduism end there. The Shunyata of the Buddha, Nagarjuna and Candrakirti is by no means a negative way of describing the Brahman of the Upanishad, Samkara and Vidhyaranya groups.