What episode of teen titans did nightwing come out in?

Nightwing appears in the "Teen Titans" episode titled "Trouble in Tokyo," which is a feature-length film released in 2006. In this film, Nightwing, who is actually Dick Grayson, reunites with his former team while they face a new villain in Tokyo. The film showcases his transition from Robin to Nightwing and explores his relationship with Starfire.