t=int(input())
for _ in range(t):
    n,m=map(int,input().split())
    a=list(map(int,input().split()))
    b=list(map(int,input().split()))
    f=True
    for i in range(n):
        if a[i] in b:
            print("YES")
            print("1",a[i])
            f=False
            break
    if f:
        print("NO")