'''
    Auther: ghoshashis545 Ashis Ghosh
    College: jalpaiguri Govt Enggineering College

'''
from os import path
import sys
from heapq import heappush,heappop
from functools import cmp_to_key as ctk
from collections import deque,defaultdict as dd 
from bisect import bisect,bisect_left,bisect_right,insort,insort_left,insort_right
from itertools import permutations
from datetime import datetime
from math import ceil,sqrt,log,gcd
def ii():return int(input())
def si():return input().rstrip()
def mi():return map(int,input().split())
def li():return list(mi())
abc='abcdefghijklmnopqrstuvwxyz'
mod=1000000007
# mod=998244353
inf = float("inf")
vow=['a','e','i','o','u']
dx,dy=[-1,1,0,0],[0,0,1,-1]

def bo(i):
    return ord(i)-ord('a')

file=1


 
def solve():


    for _ in range(ii()):

        n,m=mi()
        a=li()
        b=li()
        f=0
        for i in a:
            if i in b:
                f=1
                print("YES")
                print(1,i)
                break
        if(f==0):
            print("NO")
    

















        
if __name__ =="__main__":

    if(file):

        if path.exists('input.txt'):
            sys.stdin=open('input.txt', 'r')
            sys.stdout=open('output.txt','w')
        else:
            input=sys.stdin.readline
    solve()