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,stdout

import bisect

import math

def st():
    return list(stdin.readline().strip())

def inp():
    return int(stdin.readline())

def li():
    return list(map(int,stdin.readline().split()))

def mp():
    return map(int,stdin.readline().split())

def pr(n):
    stdout.write(str(n)+"\n")

def soe(limit):
    l=[1]*(limit+1)
    prime=[]
    for i in range(2,limit+1):
        if l[i]:
            for j in range(i*i,limit+1,i):
                l[j]=0

    for i in range(2,limit+1):
        if l[i]:
            prime.append(i)
    return prime

def segsoe(low,high):
    limit=int(high**0.5)+1
    prime=soe(limit)
    n=high-low+1
    l=[0]*(n+1)
    for i in range(len(prime)):
        lowlimit=(low//prime[i])*prime[i]
        if lowlimit<low:
            lowlimit+=prime[i]
        if lowlimit==prime[i]:
            lowlimit+=prime[i]
        for j in range(lowlimit,high+1,prime[i]):
            l[j-low]=1
    for i in range(low,high+1):
        if not l[i-low]:
            if i!=1:
                print(i)

def power(a,n):
    r=1
    while n:
        if n&1:
            r=(r*a)
        a*=a
        n=n>>1
    return r
    
def solve():
    n,m=mp()
    l=set(map(int,input().split()))
    k=set(map(int,input().split()))
    a=l.intersection(k)
    if len(a)==0:
        print("NO")
    else:
        print("YES")
        a=list(a)
        print(1,end=" ")
        print(a[0])



for _ in range(inp()):
    solve()
    
