We present a unified perspective on nonequilibrium heat engines by generalizing nonlinear irreversible thermodynamics. For tight-coupling heat engines, a generic constitutive relation for nonlinear response accurate up to the quadratic order is derived from the stalling condition and the symmetry argument. By applying this generic nonlinear constitutive relation to finite-time thermodynamics, we obtain the necessary and sufficient condition for the universality of efficiency at maximum power, which states that a tight-coupling heat engine takes the universal efficiency at maximum power up to the quadratic order if and only if either the engine symmetrically interacts with two heat reservoirs or the elementary thermal energy flowing through the engine matches the characteristic energy of the engine. Hence we solve the following paradox: On the one hand, the quadratic term in the universal efficiency at maximum power for tight-coupling heat engines turned out to be a consequence of symmetry [M. Esposito, K. Lindenberg, and C. Van Introduction.-Energy-transduction devices such as heat engines [1][2][3][4][5][6][7][8][9][10][11][12][13][14], nano-motors [15][16][17][18], and biological machines [19][20][21][22][23] are crucial to our human activities. It is important to investigate their energetics in our times of resource shortages. Since they usually operate out of equilibrium, we need to develop some concepts of nonequilibrium thermodynamics to understand their operational mechanism. Finite-time thermodynamics is a branch of nonequilibrium thermodynamics. One of its most profound findings in recent years is the universality of efficiency at maximum power. Up to the quadratic order of η C (the Carnot efficiency), the efficiencies at maximum power for the Curzon-Ahlborn endoreversible heat engine [1], the stochastic heat engine [24], the Feynman ratchet [25], and the quantum dot engine [26], were found to coincide with a universal form