import sys
from collections import Counter

def input(): return sys.stdin.readline().strip()
def list2d(a, b, c): return [[c] * b for i in range(a)]
def list3d(a, b, c, d): return [[[d] * c for j in range(b)] for i in range(a)]
def list4d(a, b, c, d, e): return [[[[e] * d for j in range(c)] for j in range(b)] for i in range(a)]
def ceil(x, y=1): return int(-(-x // y))
def INT(): return int(input())
def MAP(): return map(int, input().split())
def LIST(N=None): return list(MAP()) if N is None else [INT() for i in range(N)]
def Yes(): print('Yes')
def No(): print('No')
def YES(): print('YES')
def NO(): print('NO')
INF = 10 ** 19
MOD = 10 ** 9 + 7

for _ in range(INT()):
    N, M = MAP()
    A = LIST()
    B = LIST()

    C1 = Counter(A)
    C2 = Counter(B)
    for k in C1.keys():
        if C2[k] != 0:
            YES()
            print(1, k)
            break
    else:
        NO()
