t=int(input())

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