import sys
input = sys.stdin.readline
t = int(input())
for _ in range(t):
    n, m = map(int, input().split())
    a = set(map(int, input().split()))
    b = set(map(int, input().split()))
    for i in a:
        if i in b:
            print('YES')
            print(1, i)
            break
    else:
        print('NO')