t=int(input())
for _ in range(t):
  n,m=map(int,input().split())
  a=list(map(int,input().split()))
  b=list(map(int,input().split()))
  ans=-1
  for i in range(n):
    for j in range(m):
      if a[i]==b[j]:
        ans=a[i]
  if ans==-1:
    print('NO')
  else:
    print('YES')
    print(1,ans)