Why is it always true?
Imagine each circle is the equator of a ball resting on this page. The two outer tangents of a pair of circles are the outline of a cone that wraps snugly around both balls, and the point where the tangents cross is the cone's tip.
Now lay a flat sheet on top of all three balls. It touches each ball once and contains every cone's tip, because a cone that hugs two balls fits under the sheet too. The three tips lie on the sheet and also on the page, so they lie where the two planes meet: a single straight line.
The crossing points are also called external homothetic centers. Switch on the internal centers to see d'Alembert's companion result: one external center and the other two internal centers are collinear as well.