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

#!/usr/bin/env python
# coding: utf-8

# In[37]:
t = int(input())
ans = []
for i in range(t):

	l = list(map(int,input().split()))


	# In[38]:


	a = list(map(int,input().split()))


	# In[39]:


	b = list(map(int,input().split()))


	# In[40]:


	flag = 0
	for i in b:
			if i in a:
					ans.append("YES")
					ans.append("1"+" "+str(i))
					flag = 1
					break


	# In[41]:


	if flag == 0:
			ans.append("NO")

for i in ans:
  print(i)