Can a pinched nerve cause numbness and weakness that comes and go on the right arm/hand and right leg/foot? also, pain in the shoulder blade/bicep.

2 nerves: one pinched nerve can't cause numbness in arm and leg. So look for other causes, or multiple levels of disease

Yes: Numbness and weakness in the right upper and lower extremities may indicate nerve compression at the level of the spine. MRI and EMG could localize and prognosticate a compressive neuropathy and would give guidance to appropriate treatment options. Consult with a physical medicine and rehabilition specialist would be appropriate.