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

#include <bits/stdc++.h>
using namespace std;
const int mx = 1e6 + 10, inf = 1e9 + 10;
int t, n, m, a[mx], b[mx], po;
bool bb;
int main() {
  ios::sync_with_stdio(0);
  cin.tie(0);
  cout.tie(0);
  cin >> t;
  while (t--) {
    cin >> n >> m;
    for (long long int i = 0; i < n; i++) cin >> a[i];
    for (long long int i = 0; i < m; i++) cin >> b[i];
    sort(a, a + n);
    sort(b, b + m);
    po = 0;
    for (long long int i = 0; i < m; i++) {
      if (b[i] == a[po]) {
        cout << "YES\n" << 1 << ' ' << b[i] << ' ' << po << endl;
        bb = true;
        break;
      } else if (b[i] > a[po]) {
        if (po < n - 1)
          po++, i--;
        else
          break;
      }
    }
    if (bb == false) cout << "NO\n";
    bb = false;
  }
  return 0;
}
