Inside electric panel box in the garage, the bare stud was observed.
No problem at all??
It needs to be closed and a proper cable connector is required.
110.12(A) Unused Openings.
Unused openings, other than those intended for the operation of equipment, those intended for mounting purposes, or those permitted as part of the design for listed equipment, shall be closed to afford protection substantially equivalent to the wall of the equipment. Where metallic plugs or plates are used with nonmetallic enclosures, they shall be recessed at least 6 mm (1∕ 4 in.) from the outer surface of the enclosure.
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What if it were a used opening, like if a wire were threaded thru that hole? Does it need a grommet/bushing, or does the wood stud act like the grommet?
In general all cables need to be mechanically connected to the enclosure by a fitting which is typically an NM cable connector. A bushing, chase nipple, or grommet would not mechanically fasten the cable to the enclosure.
300.10 Electrical Continuity of Metal Raceways and Enclosures.
Metal raceways, cable armor, and other metal enclosures for conductors shall be metallically joined together into a continuous electrical conductor and shall be connected to all boxes, fittings, and cabinets so as to provide effective electrical continuity. Unless specifically permitted elsewhere in this Code, raceways and cable assemblies shall be mechanically secured to boxes, fittings, cabinets, and other enclosures.
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Do the black plastic snap in fitting connect the cable to the enclosure?
I hope so! Because that is all I see with NM cable. 
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In this case, this type does. While a standard gromet may protect a cable from chafing, it won’t provide strain relief for it.
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Yes. This in one particular brand.
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