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

import bisect
import os
import gc
import sys
from io import BytesIO, IOBase
from collections import Counter
from collections import deque
import heapq
import math
import statistics

def sin():
    return input()

def ain():
    return list(map(int, sin().split()))

def sain():
    return input().split()

def iin():
    return int(sin())


MAX = float('inf')
MIN = float('-inf')
MOD = 1000000007

def sieve(n): 
    prime = [True for i in range(n+1)] 
    p = 2
    while (p * p <= n): 
        if (prime[p] == True): 
            for i in range(p * p, n+1, p): 
                prime[i] = False
        p += 1
    s = set()
    for p in range(2, n+1): 
        if prime[p]: 
            s.add(p)
    return s

def readTree(n, m):
    adj = [deque([]) for _ in range(n+1)]
    for _ in range(m):
        u,v = ain()
        adj[u].append(v)
        adj[v].append(u)
    return adj

def main():
    for i in range(iin()):
        n,m = ain()
        a = set(ain())
        b = set(ain())
        flag = 0
        x = -1
        for i in a:
            if i in b:
                flag = 1
                x  = i
                break
        if flag == 1:
            print("YES")
            print(1,x)
        else:
            print("NO")



        
    






# Fast IO Template starts

BUFSIZE = 8192


class FastIO(IOBase):
    newlines = 0

    def __init__(self, file):
        self._fd = file.fileno()
        self.buffer = BytesIO()
        self.writable = "x" in file.mode or "r" not in file.mode
        self.write = self.buffer.write if self.writable else None

    def read(self):
        while True:
            b = os.read(self._fd, max(os.fstat(self._fd).st_size, BUFSIZE))
            if not b:
                break
            ptr = self.buffer.tell()
            self.buffer.seek(0, 2), self.buffer.write(b), self.buffer.seek(ptr)
        self.newlines = 0
        return self.buffer.read()

    def readline(self):
        while self.newlines == 0:
            b = os.read(self._fd, max(os.fstat(self._fd).st_size, BUFSIZE))
            self.newlines = b.count(b"\n") + (not b)
            ptr = self.buffer.tell()
            self.buffer.seek(0, 2), self.buffer.write(b), self.buffer.seek(ptr)
        self.newlines -= 1
        return self.buffer.readline()

    def flush(self):
        if self.writable:
            os.write(self._fd, self.buffer.getvalue())
            self.buffer.truncate(0), self.buffer.seek(0)


class IOWrapper(IOBase):
    def __init__(self, file):
        self.buffer = FastIO(file)
        self.flush = self.buffer.flush
        self.writable = self.buffer.writable
        self.write = lambda s: self.buffer.write(s.encode("ascii"))
        self.read = lambda: self.buffer.read().decode("ascii")
        self.readline = lambda: self.buffer.readline().decode("ascii")

sys.stdin, sys.stdout = IOWrapper(sys.stdin), IOWrapper(sys.stdout)
input = lambda: sys.stdin.readline().rstrip("\r\n")

# Fast IO Template ends

if __name__ == "__main__":
    main()
