t = int(input())

for u 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 range(n):
        for j in range(m):
            if a[i]==b[j]:
                print("YES")
                print(1,a[i])
                flag = 1
                break
        if flag==1:
            break
    if flag==0:
        print("NO")