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.*;

public class A {

	public static void main(String[] args) throws Exception {
		Scanner sc = new Scanner(System.in);
		PrintWriter pw = new PrintWriter(System.out);
		int t = sc.nextInt();
		while (t-- > 0) {
			int n = sc.nextInt();
			int m = sc.nextInt();
			HashSet<Integer> h = new HashSet<>();
			int x = -1;
			System.out.println(x);
			for (int i = 0; i < n; i++) {
				h.add(sc.nextInt());
			}
			for (int i = 0; i < m; i++) {
				int s = sc.nextInt();
				if (h.contains(s)) {
					x = s;
				}
			}
			if (x == -1)
				pw.println("NO");
			else {
				pw.println("YES");
				pw.println(1 + " " + x);
			}
		}

		pw.flush();

	}

	/////////////////////////////////////////////////////////////////////////////////////////////////////////////
	// Returns nCr % p
	static int nCrModp(int n, int r, int p) {
		if (r > n - r)
			r = n - r;

		// The array C is going to store last
		// row of pascal triangle at the end.
		// And last entry of last row is nCr
		int C[] = new int[r + 1];

		C[0] = 1; // Top row of Pascal Triangle

		// One by constructs remaining rows of Pascal
		// Triangle from top to bottom
		for (int i = 1; i <= n; i++) {

			// Fill entries of current row using previous
			// row values
			for (int j = Math.min(i, r); j > 0; j--)

				// nCj = (n-1)Cj + (n-1)C(j-1);
				C[j] = (C[j] + C[j - 1]) % p;
		}
		return C[r];
	}

	static long mod(long ans, int mod) {
		return (ans % mod + mod) % mod;
	}

	static long gcd(long a, long b) {
		if (a == 0)
			return b;
		return gcd(b % a, a);
	}

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

	public static int log(int n, int base) {
		int ans = 0;
		while (n + 1 > base) {
			ans++;
			n /= base;
		}
		return ans;
	}

	static long pow(long b, long e) {
		long ans = 1;
		while (e > 0) {
			if ((e & 1) == 1)
				ans = ((ans * 1l * b));
			e >>= 1;
			{

			}
			b = ((b * 1l * b));
		}
		return ans;
	}

	static int powmod(int b, long e, int mod) {
		int ans = 1;
		b %= mod;
		while (e > 0) {
			if ((e & 1) == 1)
				ans = (int) ((ans * 1l * b) % mod);
			e >>= 1;
			b = (int) ((b * 1l * b) % mod);
		}
		return ans;
	}

	static class pair implements Comparable<pair> {
		int x, y;

		pair(int s, int d) {
			x = s;
			y = d;
		}

		@Override
		public int compareTo(pair p) {
			return (x == p.x && y == p.y) ? 0 : 1;
		}

		@Override
		public String toString() {
			return x + " " + y;

		}
	}

	static int ceil(int a, int b) {
		int ans = a / b;
		return a % b == 0 ? ans : ans + 1;
	}

	static long ceil(long a, long b) {
		long ans = a / b;
		return a % b == 0 ? ans : ans + 1;
	}

	static class Scanner {
		StringTokenizer st;
		BufferedReader br;

		public Scanner(InputStream s) {
			br = new BufferedReader(new InputStreamReader(s));
		}

		public Scanner(String file) throws Exception {
			br = new BufferedReader(new FileReader(file));
		}

		public int[] intArr(int n) throws IOException {
			int a[] = new int[n];
			for (int i = 0; i < a.length; i++) {
				a[i] = nextInt();
			}
			return a;
		}

		public long[] longArr(int n) throws IOException {
			long a[] = new long[n];
			for (int i = 0; i < a.length; i++) {
				a[i] = nextLong();
			}
			return a;
		}

		public String next() throws IOException {
			while (st == null || !st.hasMoreTokens())
				st = new StringTokenizer(br.readLine());
			return st.nextToken();
		}

		public int nextInt() throws IOException {
			return Integer.parseInt(next());
		}

		public long nextLong() throws IOException {
			return Long.parseLong(next());
		}

		public String nextLine() throws IOException {
			return br.readLine();
		}

		public double nextDouble() throws IOException {
			String x = next();
			StringBuilder sb = new StringBuilder("0");
			double res = 0, f = 1;
			boolean dec = false, neg = false;
			int start = 0;
			if (x.charAt(0) == '-') {
				neg = true;
				start++;
			}
			for (int i = start; i < x.length(); i++)
				if (x.charAt(i) == '.') {
					res = Long.parseLong(sb.toString());
					sb = new StringBuilder("0");
					dec = true;
				} else {
					sb.append(x.charAt(i));
					if (dec)
						f *= 10;
				}
			res += Long.parseLong(sb.toString()) / f;
			return res * (neg ? -1 : 1);
		}

		public boolean ready() throws IOException {
			return br.ready();
		}

	}

	public static void shuffle(int[] a) {
		int n = a.length;
		for (int i = 0; i < n; i++) {
			int r = i + (int) (Math.random() * (n - i));
			int tmp = a[i];
			a[i] = a[r];
			a[r] = tmp;
		}
	}

}