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.util.Scanner;

public class A {
    public static void main(String[] args) {
        Scanner sc = new Scanner(System.in);
        int t = sc.nextInt();
        while (t-- > 0) {
            int m, n;
            m = sc.nextInt();
            n = sc.nextInt();
            int mArr[] = new int[m];
            int nArr[] = new int[n];
            for (int i = 0; i < mArr.length; i++) {
                mArr[i] = sc.nextInt();
            }
            for (int i = 0; i < nArr.length; i++) {
                nArr[i] = sc.nextInt();
            }
            int count = 0, ans = 0;
            for (int i = 0; i < mArr.length; i++) {
                for (int j = 0; j < nArr.length; j++) {
                    if (mArr[i] == nArr[j]) {
                        count ++;
                        ans = i;
                        break;
                    }
//                    else if (mArr[i] != nArr[j]){
//                        System.out.println("NO");
//
//                    }

                }
                if (count != 0) {
                    break;
                }

            }
            if (count !=0){
                System.out.println("YES");
                System.out.print("1"+" "+ans);
                System.out.println();
            }else {
                System.out.println("NO");
            }

        }
    }
}
