1
2 2
1 1
1 2
 1
1 3
3
1 2 3
 1
1 1
1000
1000
 1
2 2
2 2
2 2
 5
4 5
10 8 6 4
1 2 3 4 5
1 1
3
3
1 1
3
2
5 3
1000 2 2 2 3
3 1 5
5 5
1 2 3 4 5
1 2 3 4 5
 1
4 4
1 1 1 1
1 2 3 4
 1
2 3
1 1
1 2 3

YES
1 1
 YES
1 3
 YES
1 1000
 YES
1 2
 YES
1 4
YES
1 3
NO
YES
1 3
YES
1 1
 YES
1 1
 YES
1 1

from sys import stdin

def solve(n1, n2, arr1, arr2):
    smol, big = [arr1, arr2] if n1<n2 else [arr2, arr1]
    ans = []
    for i in range(min(n1,n2)):
        if smol[i] in big:
            ans += [smol[i]]
            break

    if len(ans) > 0: print(f"YES \n1 {ans[0]}")
    else: print("NO")


t = int(stdin.readline())

for _ in range(t):
	n1, n2 = list(map(int, stdin.readline().rstrip().split()))
	arr1 = list(map(int, stdin.readline().rstrip().split()))
	arr2 = list(map(int, stdin.readline().rstrip().split()))

	solve(n1, n2, arr1, arr2)