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We prove endpoint bounds for the square function associated with radial Fourier multipliers acting on $L^p$ radial functions. This is a consequence of endpoint bounds for a corresponding square function for Hankel multipliers. We obtain a sharp Marcinkiewicz-type multiplier theorem for multivariate Hankel multipliers and $L^p$ bounds of maximal operators generated by Hankel multipliers as corollaries. The proof is built on techniques developed by Garrigós and Seeger for characterizations of Hankel multipliers....