

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