for _ in range(int(input())):
    n, m = map(int, input().split())
    a = list(map(int, input().split()))
    b = list(map(int, input().split()))
    for i in range(n):
        if a[i] in b:
            print('YES')
            print(1, a[i])
            break
    else:
        print('NO')