Prosecutors brought four charges against Mr Kayode – causing death by dangerous driving, reckless and negligent driving, driving without due care, and driving without a valid driver’s licence, a police source told the BBC.
The defendant was granted bail in the sum of 5,000,000 Naira (£2,578) and was remanded pending his bail conditions being met.
The case has been adjourned until 20 January.
Joshua, 36, was a passenger in a Lexus SUV that collided with a parked truck on the busy Lagos-Ibadan expressway, in south-west Nigeria, on Monday.
Mr Ghami and Mr Ayodele were both pronounced dead at the scene, while Joshua was pictured being helped from the wreckage.