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We present an elegant and effective approach for the design of adiabatic waveguide couplers tailored for the heterogeneous integration of photonic building blocks. This method empowers users to incorporate the shortest taper(s) in their designs, while upholding optimal coupling efficiency. The technique assesses mode overlap between a minimum of two waveguides within the cross-section of any heterogeneous material stack, determining the necessary waveguide cross-sectional dimension to achieve optimal coupling efficiency. Two illustrative design applications are showcased and compared to a linear, concave, and convex taper for reference: a SiN-to-polymer structure exhibiting a 40% coupling improvement and a Si-to-GeSi structure having a 2.2 up to 5 times shorter length.