#include <bits/stdc++.h>
using namespace std;
void solve() {
  int n, m;
  cin >> n >> m;
  vector<int> a(n), b(m);
  for (int i = 0; i < n; i++) cin >> a[i];
  for (int i = 0; i < m; i++) cin >> b[i];
  for (int i = 0; i < n; i++) {
    for (int j = 0; j < m; j++) {
      if (a[i] == b[j]) {
        cout << "YES\n1 " << a[i] << '\n';
        return;
      }
    }
  }
  cout << "NO\n";
}
int main() {
  ios::sync_with_stdio(0);
  cin.tie(0);
  int t;
  cin >> t;
  while (t--) {
    solve();
  }
  return 0;
}
