import sys
import math
import bisect
from sys import stdin, stdout
from math import gcd, floor, sqrt, log
from collections import defaultdict as dd
from bisect import bisect_left as bl, bisect_right as br
from collections import Counter
#sys.setrecursionlimit(100000000)
inp = lambda: int(input())
strng = lambda: input().strip()
jn = lambda x, l: x.join(map(str, l))
strl = lambda: list(input().strip())
mul = lambda: map(int, input().strip().split())
mulf = lambda: map(float, input().strip().split())
seq = lambda: list(map(int, input().strip().split()))
ceil = lambda x: int(x) if (x == int(x)) else int(x) + 1
ceildiv = lambda x, d: x // d if (x % d == 0) else x // d + 1
flush = lambda: stdout.flush()
stdstr = lambda: stdin.readline()
stdint = lambda: int(stdin.readline())
stdpr = lambda x: stdout.write(str(x))
stdarr = lambda: map(int, stdstr().split())

mod = 1000000007

for _ in range(stdint()):
	n , m= mul()
	a = seq()
	b = seq()
	flag =0
	for ele in a:
		if ele in b:
			flag = 1
			print('YES')
			print(1,end=' ')
			print(ele)
			break
	if flag == 0:
		print('NO')