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 java.io.*;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.InputMismatchException;
/* * */

public class _658A implements Runnable{
    public static void main(String[] args) {
	    new Thread(null, new _658A(),"Main",1<<27).start();
    }
    @Override
    public void run() {
        FastReader fd = new FastReader(System.in);
        PrintWriter out = new PrintWriter(System.out);
        int t = fd.nextInt();

        tests:for(int te = 0; te < t; te++){
            int n = fd.nextInt();
            int m = fd.nextInt();
            ArrayList<Integer> a = new ArrayList<>();
            for(int i = 0; i < n; i++){
                a.add(fd.nextInt());
            }
            boolean isFound = false;
            int ans = -1;
            for(int i = 0; i < m; i++){
                int temp = fd.nextInt();
                if(!isFound && a.contains(temp)){
                    isFound = true;
                    ans = temp;
                }
            }
            if(isFound){
                out.println("YES\n1 "+ans);
            }
            else{out.println("NO");}

        }
        out.close();
    }

    //Helper functions
    static int[] getArray(int n,boolean isSorted, FastReader fd){
        int[] data = new int[n];
        for(int i = 0; i < data.length; i++){ data[i] = fd.nextInt(); }
        if(isSorted) Arrays.sort(data);
        return data;
    }
    static int gcd(int a, int b) {
        if (a == 0)
            return b;
        return gcd(b % a, a);
    }

    static int lcm(int a, int b) {
        return (a*b)/gcd(a, b);
    }


    static class FastReader {
        private InputStream stream;
        private byte[] buf = new byte[1024];
        private int curChar;
        private int numChars;
        private SpaceCharFilter filter;
        private BufferedReader br = new BufferedReader(new InputStreamReader(System.in));

        public FastReader(InputStream stream) {
            this.stream = stream;
        }

        public int read() {
            if (numChars==-1)
                throw new InputMismatchException();

            if (curChar >= numChars) {
                curChar = 0;
                try {
                    numChars = stream.read(buf);
                }
                catch (IOException e) {
                    throw new InputMismatchException();
                }

                if(numChars <= 0)
                    return -1;
            }
            return buf[curChar++];
        }

        public String nextLine() {
            String str = "";
            try {
                str = br.readLine();
            }
            catch (IOException e) {
                e.printStackTrace();
            }
            return str;
        }
        public int nextInt() {
            int c = read();

            while(isSpaceChar(c))
                c = read();

            int sgn = 1;

            if (c == '-') {
                sgn = -1;
                c = read();
            }

            int res = 0;
            do {
                if(c<'0'||c>'9')
                    throw new InputMismatchException();
                res *= 10;
                res += c - '0';
                c = read();
            }
            while (!isSpaceChar(c));

            return res * sgn;
        }

        public long nextLong() {
            int c = read();
            while (isSpaceChar(c))
                c = read();
            int sgn = 1;
            if (c == '-') {
                sgn = -1;
                c = read();
            }
            long res = 0;

            do {
                if (c < '0' || c > '9')
                    throw new InputMismatchException();
                res *= 10;
                res += c - '0';
                c = read();
            }
            while (!isSpaceChar(c));
            return res * sgn;
        }

        public double nextDouble() {
            int c = read();
            while (isSpaceChar(c))
                c = read();
            int sgn = 1;
            if (c == '-') {
                sgn = -1;
                c = read();
            }
            double res = 0;
            while (!isSpaceChar(c) && c != '.') {
                if (c == 'e' || c == 'E')
                    return res * Math.pow(10, nextInt());
                if (c < '0' || c > '9')
                    throw new InputMismatchException();
                res *= 10;
                res += c - '0';
                c = read();
            }
            if (c == '.') {
                c = read();
                double m = 1;
                while (!isSpaceChar(c)) {
                    if (c == 'e' || c == 'E')
                        return res * Math.pow(10, nextInt());
                    if (c < '0' || c > '9')
                        throw new InputMismatchException();
                    m /= 10;
                    res += (c - '0') * m;
                    c = read();
                }
            }
            return res * sgn;
        }

        public String readString() {
            int c = read();
            while (isSpaceChar(c))
                c = read();
            StringBuilder res = new StringBuilder();
            do {
                res.appendCodePoint(c);
                c = read();
            }
            while (!isSpaceChar(c));

            return res.toString();
        }

        public boolean isSpaceChar(int c) {
            if (filter != null)
                return filter.isSpaceChar(c);
            return c == ' ' || c == '\n' || c == '\r' || c == '\t' || c == -1;
        }

        public String next() {
            return readString();
        }

        public interface SpaceCharFilter {
            public boolean isSpaceChar(int ch);
        }
    }
}
