It really depends upon the cable and how it is being used. For example some of the servo drives, even some stepper drives, provide for a clamping area to terminate the cable right at the drive. In some cases people will do the same to the panel. So the answer sometimes is to resist skinning the cable to ground the shield at box entry. Instead the shield is grounded as close to the drive as possible.
As you have noted some requirements mean grounding the shield close to the entry point possibly on a grounding bar. I suppose the local jurisdiction has a big say in how this is done. Personally I’d rather see as little damage done to the cable as possible which would mean grounding at the drive. In an ideal world the cable runs from stepper / servo to the drive, unbroken and free of splices. The only negative with respect to bus bar grounding is that the ground straps tend to crush the cables which I don’t like. My dad his toon is that a sure way to cable failure is to pinch it or kink it, that is to concentrate stress someplace in the cable.