for _ in range(int(input())):
    n,m=map(int,input().split())
    a=list(map(int,input().split()))    
    b=list(map(int,input().split()))
    ans=False
    for i in range(n):
        if a[i] in b:
            print("YES")
            print(1,a[i])
            ans=True
            break
    if not ans:
        print("NO")