t=int(input())
for _ in range(t):
    n,m=map(int,input().split())
    a=list(map(int,input().split()))[:n]
    b=list(map(int,input().split()))[:m]
    flag=0
    for i in a:
        for j in b:
            if i==j:
                print('YES')
                print(1,i)
                flag=1
                break
        if(flag==1):
            break
    if(flag==0):
        print('NO')
    