import java.io.OutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.PrintWriter;
import java.util.StringTokenizer;
import java.io.IOException;
import java.io.BufferedReader;
import java.io.InputStreamReader;
import java.io.InputStream;

/**
 * Built using CHelper plug-in
 * Actual solution is at the top
 *
 * @author xwchen
 */
public class Main {
    public static void main(String[] args) {
        InputStream inputStream = System.in;
        OutputStream outputStream = System.out;
        InputReader in = new InputReader(inputStream);
        PrintWriter out = new PrintWriter(outputStream);
        TaskA solver = new TaskA();
        solver.solve(1, in, out);
        out.close();
    }

    static class TaskA {
        public void solve(int testNumber, InputReader in, PrintWriter out) {
            int T = in.nextInt();
            while (T-- > 0) {
                int n = in.nextInt();
                int m = in.nextInt();
                int[] a = in.nextIntArray(n);
                int[] b = in.nextIntArray(m);
                boolean[] used = new boolean[1004];
                for (int x : a) {
                    used[x] = true;
                }
                int r = -1;
                for (int x : b) {
                    if (used[x]) {
                        r = x;
                        break;
                    }
                }
                if (r == -1) {
                    out.println("NO");
                } else {
                    out.println("YES");
                    out.println(1 + " " + r);
                }
            }
        }

    }

    static class InputReader {
        private BufferedReader reader;
        private StringTokenizer tokenizer = new StringTokenizer("");

        public InputReader(InputStream inputStream) {
            this.reader = new BufferedReader(
                    new InputStreamReader(inputStream));
        }

        public String next() {
            while (!tokenizer.hasMoreTokens()) {
                try {
                    tokenizer = new StringTokenizer(reader.readLine());
                } catch (IOException e) {
                    e.printStackTrace();
                }
            }
            return tokenizer.nextToken();
        }

        public int nextInt() {
            return Integer.parseInt(next());
        }

        public int[] nextIntArray(int n) {
            int[] a = new int[n];
            for (int i = 0; i < n; i++)
                a[i] = nextInt();
            return a;
        }

    }
}

