from sys import stdin,stdout                           #
import math                                            #
import heapq                                           #
                                                       #
t = 1                                                  #
def aint():                                            #
	return int(input().strip())                        #
def lint():                                            #
	return list(map(int,input().split()))              #
def fint():                                            #
	return list(map(int,stdin.readline().split()))     #
                                                       #	
########################################################

def main():
	a,b=lint()
	l1=lint()
	l2=lint()
	for i in l1:
		if i in l2:
			print("YES")
			print("1",i)
			return
	print("NO")
	#code here
	return

t=int(input())

########################################################
for i in range(t):                                     #
	#print("Case #"+str(i+1)+":",end=" ")		       #
	main()                                             #