Midway through the first half, Arsenal broke the deadlock. Bayern's terrible record on set pieces was emphasised before the game, and the hosts took full advantage from a corner, with Timber getting in front of Manuel Neuer to nod in a Bukayo Saka corner.
That lead should have been doubled soon after when Eberechi Eze played a neat one-two with Mikel Merino to set himself in on goal, but Joshua Kimmich made a brilliant recovery challenge to deny the derby-day hero. And that missed opportunity came back to haunt Arsenal as Bayern levelled the score seconds later. Kimmich's delectable ball over the head of Myles Lewis-Skelly found Serge Gnabry, whose first-time cross picked out teenager Lennart Karl to thunder in at close range.
After the break, Mikel Merino spurned a free header after an excellent cross from Saka to the back post, while Karl went down the other end in search of his second but his tame shot was held by David Raya. Merino then headed wide from a wicked Declan Rice corner and Neuer kept out Cristhian Mosquera from a few yards out shortly afterwards in a manic 15 minutes following the interval.
An almighty scramble saw Rice force Neuer into a low save with his foot, and the rebound didn't fall kindly for Saka to be able to convert, with the Bayern goalkeeper able to sweep up the loose ball, much to the frustration of a brooding home crowd.
With 20 minutes remaining, Arsenal went back in front. Riccardo Calafiori, just on as a substitute, drilled in a low cross right through the Bayern box, and Madueke arrived ahead of Konrad Laimer to tap in his first goal for the Gunners.
Bayern nearly pulled level again when another straight ball over the defence found former Gunner Gnabry, but he couldn't make contact with his acrobatic effort and Arsenal were let off the hook.
The hosts wrapped up the points in the final quarter of an hour after another howler from Neuer. Eze's dink over the top found Martinelli, who still had 50 yards to go to goal, only for the German keeper to try and meet him halfway, fluffing his clearance and allowing the winger to roll the ball into an empty net.
GOAL rates Arsenal's players from Emirates Stadium...
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