Does a pinched nerve have to be accompanied by symptoms of numbness and tingly ? for example lets say the nerve the innervates the shoulder muscle.

Not always...: Although most nerves have both motor and sensory fibers, neural inflammation may selectively involve motor fibers, in which the symptoms would be weakness of the affected muscle. On the other hand, if only sensory fibers are involved, then the symptoms would be a combination of numbness, tingling, and pain in the region served by the fibers.