Should I withdraw from my Probability and Statistical Inference

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Should I withdraw from my Probability and Statistical Inference class?

I'm a math major, and this is supposed to be an intro to probability with a Calc 2 base (which I got an A in) math elective, however we have a new professor from Nepal with a HUGE foreign accent so I can't understand half the things he's saying, and he's going through the material extremely quickly (3 weeks in, 2 and a half chapters worth of content already) and the textbook is just a bunch of proofs.
Frankly, I have no fucking clue what the hell is going on in the material. It takes me at least a few hours to do homework per class period (mostly because I don't understand it) and its getting worse as the material gets more complicated.

He's continually throwing in new notation and symbols and concepts while barely going over them before he shoots off into the next one. I'm not even positive I'll pass the class, and I have a 3.9 GPA right now so its going to really wreck it even if I manage to pass.

Even worse, the time I have to invest to understand anything is already being a detriment to my other classes as I'm already a busy person.

I have a 17 credit hour schedule so withdrawing would still make me a full time student. Should I withdraw? Would a W on my transcript be even worse than a D or an F? (I'm aiming for grad school and studying astrophysics).