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

#include <CodeforcesSolutions.h>
#include <ONLINE_JUDGE <solution.cf(contestID = "1382",problemID = "A",method = "GET")>.h>
"""
    Author : thekushalghosh
    Team   : CodeDiggers
 
    I prefer Python language over the C++ language :p :D
        
    Visit my website : thekushalghosh.github.io
"""
import sys,math,cmath,time
start_time = time.time()
##########################################################################
################# ---- THE ACTUAL CODE STARTS BELOW ---- #################
 
def solve():
    n,m = invr()
    a = inlt()
    b = inlt()
    if set(a) & set(b):
        print("YES")
        print(1,list(set(a) & set(b))[0])
    else:
        print("NO")
 
################## ---- THE ACTUAL CODE ENDS ABOVE ---- ##################
##########################################################################
 
def main():
    global tt
    if not ONLINE_JUDGE:
        sys.stdin = open("input.txt","r")
        sys.stdout = open("output.txt","w")
    t = 1
    t = inp()
    for tt in range(t):
        solve()
    if not ONLINE_JUDGE:
        print("Time Elapsed :",time.time() - start_time,"seconds")
        sys.stdout.close()
    
#---------------------- USER DEFINED INPUT FUNCTIONS ----------------------#
def inp():
    return(int(input()))
def inlt():
    return(list(map(int,input().split())))
def insr():
    return(input().strip())
def invr():
    return(map(int,input().split()))
 
#------------------ USER DEFINED PROGRAMMING FUNCTIONS ------------------#
def counter(a):
    q = [0] * max(a)
    for i in range(len(a)):
        q[a[i] - 1] = q[a[i] - 1] + 1
    return(q)
 
def counter_elements(a):
    q = dict()
    for i in range(len(a)):
        if a[i] not in q:
            q[a[i]] = 0
        q[a[i]] = q[a[i]] + 1
    return(q)
 
def string_counter(a):
    q = [0] * 26
    for i in range(len(a)):
        q[ord(a[i]) - 97] = q[ord(a[i]) - 97],1
    return(q)
 
def factors(n):
    q = []
    for i in range(1,int(n ** 0.5) + 1):
        if n % i == 0: q.append(i); q.append(n // i)
    return(list(sorted(list(set(q)))))
 
def prime_factors(n):
    q = []
    while n % 2 == 0: q.append(2); n = n // 2
    for i in range(3,int(n ** 0.5) + 1,2):
        while n % i == 0: q.append(i); n = n // i
    if n > 2: q.append(n)
    return(list(sorted(q)))
 
def transpose(a):
    n,m = len(a),len(a[0])
    b = [[0] * n for i in range(m)]
    for i in range(m): 
        for j in range(n): 
            b[i][j] = a[j][i]
    return(b)
#-----------------------------------------------------------------------#
ONLINE_JUDGE = __debug__
if ONLINE_JUDGE:
    input = sys.stdin.readline
    
    
main()