t=int(input())
for i in range(t):
    n,m=map(int,input().split())
    a=list(map(int,input().split()))
    b=list(map(int,input().split()))
    flag=0
    for i in b:
        if i in a:
            print("YES")
            print("1",i)
            flag=1
            break
    if(flag==0):
        print("NO")
