t = int(input())
for _ in range(t):
    n,m = list(map(int,input().split()))
    a = list(map(int,input().split()))
    b = list(map(int,input().split()))
    flag = 0
    for i in a:
        if i in b:
            print("YES")
            print(1,i)
            flag = 1
            break
    if flag == 0:
        print("NO") 