Joliet is not a format that can be read by real Amigas.
Originally, ASIMCDFS and others only supported ISO9660 format, however, they support the extended ISO9660 level 2 filenaming architecture, also known as... Romeo (as in Romeo and Juliet...)
When using Nero 6.6.X, you have access to this longer than normal ISO9660 naming scheme by selecting the following when creating a CD:
File system: ISO9660 only
File name length (ISO): Max. of 31 chars (Level 2)
Character set (ISO): ISO9660
Romeo allowed to have filenames longer than the normalized DOS 11=8+3 architecture before Windows 95 existed and it is the format used on all Amiga CDs made before 1995.
In the antiquated Easy CD Pro 95 sold by Adaptec back in 1995, Romeo was refered to by its real name. This software was therefore the very first PC software that I know of to be capable of replicating CDs in a format compatible with longer file names used on the Amiga.
Romeo was also available on the Mac before the Joliet format was available.
By selecting the above options in Nero, you therefore create a CD in the old original way.