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

t=int(input())
#x,y=[int(x) for x in input().split()]
for i in range(t):
    x,y=[int(x) for x in input().split()]
    list1=[int(x) for x in input().split()]
    list2=[int(x) for x in input().split()]
    if (x<y ):
        for i in range(x):
            if list1[i] in list2 :
                print("YES")
                print("1",list1[i])
                break
            elif i==x-1:
                if list1[i] in list2:
                    print("YES")
                    print("1",list1[i])
                else:
                    print("NO")
            else:
                continue
                    
                
                
    else:
        for i in range(y):
            if list2[i] in list1 :
                print("YES")
                
                print("1", list2[i])
            elif i==x-1:
                if list2[i] in list1:
                    print("YES")
                    print("1",list2[i])
                else:
                    print("NO")
            else:
                continue
    