for _ in range(int(input())):
    n,m = map(int,input().split())
    a = list(map(int,input().split()))
    b = list(map(int,input().split()))
    c = set(a).intersection(set(b))
    if len(c)>0:
        print("YES")
        c = list(c)
        print(1,c[0])
    else:
        print("NO")