import sys
if sys.subversion[0] == "PyPy":
    import io, atexit
    sys.stdout = io.BytesIO()
    atexit.register(lambda: sys.__stdout__.write(sys.stdout.getvalue()))
    
    sys.stdin = io.BytesIO(sys.stdin.read())
    input = lambda: sys.stdin.readline().rstrip()

RS = raw_input
RI = lambda x=int: map(x,RS().split())
RN = lambda x=int: x(RS())
''' ...................................................................... '''

for _ in xrange(RN()):
    n,m = RI()
    A = set(RI())
    B = set(RI())
    C = list(A&B)
    if C:
        print 'YES'
        print 1,C[0]
    else: print 'NO'
    
            
            
    
    

    
