import sys
input = sys.stdin.readline

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]
                break
    if ans != -1:
        print('YES')
        print(1, ans)
    else:
        print('NO')