The 25-year-old has made a full recovery after a knee injury and subsequent operation and was named in the first XI for the clash with the 2. Bundesliga side.
However, Tierney was only on the pitch for 30 minutes before being taken off by Arteta, whose side found themselves 2-0 down heading into the second half.
Concerns were immediately raised of a fresh issue for Tierney, who has endured a rough time with injuries since arriving in North London from Celtic in 2019.
Arteta was quick to ease any injury worries after the game and revealed that he had planned to take the Scotland international off on the 30-minute mark as he builds up his fitness.
"He's really good. He's been training really good. Obviously he's been out for over three months now so we wanted to give him a proper warm-up, play the first half an hour and then get him out. So he was in good condition and there's no issues there," Arteta told arsenal.com.
The Gunners boss was also full of praise for new arrival Gabriel Jesus, who took just 90 seconds to open his account for the club after coming on as a second-half substitute.
The £45m man bagged a brace for the North London club and combined well with Eddie Nketiah at the Max-Morlock-Stadion, and Arteta hailed the "all-energy" striker after the final whistle.
"He's all energy. You see his enthusiasm, he's always smiling, he's always talking to his teammates and apart from that I think he brings a different level of desire and commitment and enthusiasm, so I think it's really good," Arteta added.
"That's why we brought him here. To put the ball in the back of the net and obviously for his confidence and for him to believe in what we are doing I think it's really important and he's settled really well.
"I know him really well because I worked with him before and I know that there's not going to be any issue there."
Johannes Geis, Kwadwo Duah and Lukas Schleimer all found a way through for Nuremberg on the day, with Christopher Schindler and Tim Handwerker also turning into their own net.
Following the conclusion of their Germany training camp, Arsenal now prepare to travel to the USA to meet Everton on July 16 before the Florida Cup with Orlando City and Chelsea.
Arteta then leads his side into an Emirates Cup battle with Sevilla on July 30 before the Gunners kick off the new Premier League season away to Crystal Palace on August 5.