I think I understand what you're eluding to, based on your image showing outward tan-to-tan arc at the top and inward tan-to-tan arc at bottom. I recognize AutoCAD provides no easy way to create the outward tan-to-tan arc. This is a situation, as you know, where radius is unknown and depends on location of tangent points. Conversely, FILLET-R and CIRCLE-TTR the radius is known and specified by the user. Therefore, I see these as different tasks.
I know you weren't looking for LISP routine, but it wasn't difficult to create one that will draw an outward tan-to-tan arc. Attached is OTTA.LSP (command: "OTTA") which is rough, not in any finished state.
Command Steps:
Given any pair of circles, arcs or combo, with identical radiuses, positioned horizontal, vertical or at an angle...
1. Select pair (wants a selection set)
2. Specify tangent point along circle or arc keeping in mind that arc will be drawn counter-clockwise (only supports this direction currently)
If I were a programmer at Autodesk and wanted to integrate this into AutoCAD, I would look at adding command option Ttp (tan tan pair) to the ARC command.