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

'''     ░░█ ▄▀█ █   █▀ █░█ █▀█ █▀▀ █▀▀   █▀█ ▄▀█ █▀▄▀█  
        █▄█ █▀█ █   ▄█ █▀█ █▀▄ ██▄ ██▄   █▀▄ █▀█ █░▀░█     '''


# [cf-1382-a.py] => [21-07-2020 @ 20:08:07] 
# Author & Template by : Udit "luctivud" Gupta
# https://www.linkedin.com/in/udit-gupta-1b7863135/


import math;   from collections import *
import sys;    from functools import reduce
import time;   from itertools import groupby

# sys.setrecursionlimit(10**6)

def input()         : return sys.stdin.readline()
def get_ints()      : return map(int, input().strip().split())
def get_list()      : return list(get_ints())
def get_string()    : return list(input().strip().split())
def printxsp(*args) : return print(*args, end="")
def printsp(*args)  : return print(*args, end=" ")


DIRECTIONS = [(+0, +1), (+0, -1), (+1, +0), (+1, -1)] 
NEIGHBOURS = [(-1, -1), (-1, +0), (-1, +1), (+0, -1),\
              (+1, +1), (+1, +0), (+1, -1), (+0, +1)]


CAPS_ALPHABETS = {chr(i+ord('A')) : i for i in range(26)}
SMOL_ALPHABETS = {chr(i+ord('a')) : i for i in range(26)}
INF = float('inf')


# Custom input output is now piped through terminal commands.


S34t = time.time()
for _testcases_ in range(int(input())): 
    n, m = get_ints()
    a = set(get_list())
    b = set(get_list())
    ans = -1
    flag = False

    for i in a:
        if i in b:
            ans = i
            flag = True
            break
        if flag:
            break

    if ans == -1:
        print("NO")
    else:
        print("YES")
        print(1, ans)




S34p = time.time()
# print("Time Elapsed: {}".format(float(S34p-S34t)))
''' ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                             SHREE RAM JAI RAM, JAI JAI RAM 
                                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~'''
