We cashed a check made payable to lets say, Joe Banker, Trustee of the Joe Banker Trust...
BSA considerations aside, I suggest you should not do that. Regardless of whether the trust is revocable by the trustee, it is still a different person. Realizing that many of the people who establish trusts tend to ignore the change they have made to their ownership of the corpus, your bank is not in a position to be so cavalier.
Checks payable to a trust should be deposited into an account in the same name. The trustee can then write a check to whomever he wishes. Requiring the trustee to endorse the check once as trustee and then again as an individual puts a Band - Aid on the problem, but it is not the preferred approach.