t=int(input())
while(t!=0):
    t=t-1
    n,m=map(int,input().split())
    a=list(map(int,input().split()))
    b=list(map(int,input().split()))
    flag=0
    for i in b:
        if(i in a):
            flag=1
            print('YES')
            print('1',i)
            break
    if(flag==0):
        print('NO')