Is there no product available that could be put in the hole in the joist to make the wire(s) "securely fastened in place by an approved means" there? That would be enough, since the hole in the joist is already less than 12" from the panel.
Heck you could fasten a beveled piece of wood to the face of the joist with its top at the bottom of the hole(s) and staple the wires as they pass over it. Not sure if that would be any easier than the usual 2x4 method already discussed.
How about a cable tie with a screw hole, tighten it around the wire(s) and face screw it to the joist. Would that be an "approved means"?
Cheers, Wayne