def func():
	gg = [int(i) for i in input().split()]
	n = gg[0]
	m = gg[1]

	a1 = [int(i) for i in input().split()]
	a2 = [int(i) for i in input().split()]

	m1 = [0]*1005
	m2 = [0]*1005

	for i in a1:
		m1[i] += 1

	for i in a2:
		m2[i] += 1

	flag = 0

	for i in range(1005):
		if (m1[i] >0 and m2[i]>0):
			print ("YES")
			print ("1 " + str(i) )
			flag = 1
			break

	
	if (flag == 0):
		print ("NO")

t = int(input())

for i in range(t):
	func()



