for _ in range(int(input())):
    n,m = map(int,input().split())
    a = list(map(int,input().split()))
    b = list(map(int,input().split()))
    c = list(set(a)&set(b))
    if len(c)==0:
        print("NO")
    else:
        print("YES")
        print(1,c[0])    
