t=int(input())
for case in range(t):
    n,m=map(int,input().split())
    a=list(map(int,input().split()))
    b=list(map(int,input().split()))
    flag=False
    for i in range(n):
        if a[i] in b:
            print('YES')
            print(1,a[i])
            flag=True
            break
    if flag==False:
        print('NO')