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