from sys import stdin
input=lambda :stdin.readline().strip()
for _ in range(int(input())):
    n,m=[int(i) for i in input().split()]
    lst1=[int(i) for i in input().split()]
    lst2=[int(i) for i in input().split()]
    nk=0
    lst1=set(lst1)
    lst2=set(lst2)
    for i in lst1:
        if i in lst2:
            print('YES')
            print(1,i)
            nk=1
            break
    if nk==0:
        print('NO')
