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Observations of pathogen community structure provide evidence for both the coexistence and replacement of related strains. Despite many studies of specific host-pathogen systems, a unifying framework for predicting the outcomes of interactions among pathogens has remained elusive. We address this gap by developing a pathogen invasion theory (PIT) based on modern ecological coexistence theory and testing the resulting framework against empirical systems. Across major human pathogens, PIT predicts near-universal mutual susceptibility of one strain to invasion by another strain. However, predicting co-circulation from mutual invasion also depends on the degree to which susceptible abundance is reduced below the invasion threshold by overcompensatory epidemic dynamics, and the time it takes for susceptibles to replenish. The transmission advantage of an invading strain and the strength and duration of immunity are key determinants of susceptible dynamics. PIT unifies existing ideas about pathogen co-circulation, offering a quantitative framework for predicting the emergence of novel pathogen strains.