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 sys
import math
import itertools
import functools
import collections
import operator
import fileinput
import copy

ORDA = 97  # a
def ii(): return int(input())
def mi(): return map(int, input().split())
def li(): return [int(i) for i in input().split()]
def lcm(a, b): return abs(a * b) // math.gcd(a, b)
def revn(n): return str(n)[::-1]
def dd(): return collections.defaultdict(int)
def ddl(): return collections.defaultdict(list)
def sieve(n):
    if n < 2: return list()
    prime = [True for _ in range(n + 1)]
    p = 3
    while p * p <= n:
        if prime[p]:
            for i in range(p * 2, n + 1, p):
                prime[i] = False
        p += 2
    r = [2]
    for p in range(3, n + 1, 2):
        if prime[p]:
            r.append(p)
    return r
def divs(n, start=2):
    r = []
    for i in range(start, int(math.sqrt(n) + 1)):
        if (n % i == 0):
            if (n / i == i):
                r.append(i)
            else:
                r.extend([i, n // i])
    return r
def divn(n, primes):
    divs_number = 1
    for i in primes:
        if n == 1:
            return divs_number
        t = 1
        while n % i == 0:
            t += 1
            n //= i
        divs_number *= t
def prime(n):
    if n == 2: return True
    if n % 2 == 0 or n <= 1: return False
    sqr = int(math.sqrt(n)) + 1
    for d in range(3, sqr, 2):
        if n % d == 0: return False
    return True
def convn(number, base):
    newnumber = 0
    while number > 0:
        newnumber += number % base
        number //= base
    return newnumber
def cdiv(n, k): return n // k + (n % k != 0)
def ispal(s):
    for i in range(len(s) // 2 + 1):
        if s[i] != s[-i - 1]:
            return False
    return True


for _ in range(ii()):
    n, m = mi()
    a = li()
    b = li()
    c = set(a) & set(b)
    if len(c) == 0:
        print('NO')
    else:
        print('YES')
        print(1, c.pop())
