import sys 

input = sys.stdin.readline
 
t = int(input())
for _ in range(t):
    n, m = map(int, input().split())
    a = set(map(int, input().split()))
    b = set(map(int, input().split()))
    c = a.intersection(b)
    if c:
        print("YES")
        print("1 {}".format(c.pop()))
    else:
        print("NO")
