If you don't have the patience to slowly fill the void with spray foam through holes drilled in one of the studs, you could (if you were an experienced carpenter) use a Sawzall to remove one of the studs and re-frame the corner as a two-stud corner. Then you could either insulate the void with a fiberglass batt or simply present the two-stud corner to the spray-foam contractor as an accessible corner.
The video below is from a house near Charleston, South Carolina that I visited recently, and you'll see that the homeowner in this case didn't get his money's worth. I knew immediately when I walked into the attic that something was wrong because it was hot up there. In a properly insulated spray foam attic, the temperature won't be much higher than the house temperature. 
I am an Architect in Toronto. I am designing a new roof addition to a row house building. Because of existing conditions and the shape of the new roof. It may be easiest to use closed cell spray foam within the areas of the joists. My question is when spray foam is used in this situation do I need to worry about how the joist members may be thermal bridges? It is not common to provide a little bit of rigid insulation to protect the joist members? The additional layer of outboard insulation will require an extra layer of plywood above the insulation which will add to cost.

Roof Bond Colorado