#include <iostream>
#include <cstdio>
#include <cstdlib>
#include <algorithm>
#include <string>
#include <sstream>
#include <cstring>
#include <cctype>
#include <cmath>
#include <vector>
#include <set>
#include <map>
#include <stack>
#include <queue>
#include <ctime>
#include <cassert>
#define _for(i,a,b) for(int i=(a);i<(b);++i)
#define _rep(i,a,b) for(int i=(a);i<=(b);++i)
#define mem(a,b) memset(a,b,sizeof(a))
using namespace std;
typedef long long LL;
inline int read_int(){
int t=0;bool sign=false;char c=getchar();
while(!isdigit(c)){sign|=c=='-';c=getchar();}
while(isdigit(c)){t=(t<<1)+(t<<3)+(c&15);c=getchar();}
return sign?-t:t;
}
inline LL read_LL(){
LL t=0;bool sign=false;char c=getchar();
while(!isdigit(c)){sign|=c=='-';c=getchar();}
while(isdigit(c)){t=(t<<1)+(t<<3)+(c&15);c=getchar();}
return sign?-t:t;
}
inline char get_char(){
char c=getchar();
while(c==' '||c=='\n'||c=='\r')c=getchar();
return c;
}
inline void write(LL x){
register char c[21],len=0;
if(!x)return putchar('0'),void();
if(x<0)x=-x,putchar('-');
while(x)c[++len]=x%10,x/=10;
while(len)putchar(c[len--]+48);
}
inline void space(LL x){write(x),putchar(' ');}
inline void enter(LL x){write(x),putchar('\n');}
const int MAXN=2e5+5;
struct Edge{
int to,type,next;
}edge[MAXN<<1];
int head[MAXN],edge_cnt;
void Insert(int u,int v,int type){
edge[++edge_cnt]=Edge{v,type,head[u]};
head[u]=edge_cnt;
}
vector<int> r[MAXN],c[MAXN];
int block_id[MAXN],block_cnt,color[MAXN],color_cnt[MAXN][2];
void dfs(int u,int c){
block_id[u]=block_cnt;color[u]=c;
color_cnt[block_cnt][c]++;
for(int i=head[u];i;i=edge[i].next){
int v=edge[i].to;
if(block_id[v])
continue;
dfs(v,c^edge[i].type);
}
}
int main()
{
int t=read_int();
while(t--){
mem(block_id,0);block_cnt=0;
mem(head,0);edge_cnt=0;
mem(color_cnt,0);
int n=read_int(),a;
_rep(i,1,n)
r[i].clear(),c[i].clear();
_rep(i,1,n){
a=read_int();
c[a].push_back(i);
r[a].push_back(1);
}
_rep(i,1,n){
a=read_int();
c[a].push_back(i);
r[a].push_back(2);
}
bool flag=true;
_rep(i,1,n){
if(c[i].size()>2){
puts("-1");
flag=false;
break;
}
}
if(!flag)
continue;
_rep(i,1,n){
Insert(c[i][0],c[i][1],r[i][0]==r[i][1]);
Insert(c[i][1],c[i][0],r[i][0]==r[i][1]);
}
int ans=0;
_rep(i,1,n){
if(!block_id[i]){
block_cnt++;
dfs(i,0);
ans+=min(color_cnt[block_cnt][0],color_cnt[block_cnt][1]);
}
}
for(int i=1;i<edge_cnt;i+=2){
if(color[edge[i].to]^color[edge[i+1].to]^edge[i].type){
puts("-1");
flag=false;
break;
}
}
if(!flag)
continue;
enter(ans);
_rep(i,1,n){
if(color[i]^(color_cnt[block_id[i]][0]<color_cnt[block_id[i]][1]))
space(i);
}
puts("");
}
return 0;
}