import sys
if sys.subversion[0] == "PyPy":
    import io, atexit
    sys.stdout = io.BytesIO()
    atexit.register(lambda: sys.__stdout__.write(sys.stdout.getvalue()))
    
    sys.stdin = io.BytesIO(sys.stdin.read())
    input = lambda: sys.stdin.readline().rstrip()

RS = raw_input
RI = lambda x=int: map(x,RS().split())
RN = lambda x=int: x(RS())
''' ...................................................................... '''

for _ in xrange(RN()):
    n,m = RI()
    arr = RI()
    brr = RI()
    ans = 0
    for i in arr:
        for j in brr:
            if i==j:
                ans = i
                break
        if ans: break

    if ans:
        print'YES'
        print 1,ans
    else:
        print 'NO'

    
