The material I teach is generally considered "hard". Most students need my help to point out "This is the main path. Learn this. Let's go over this multiple times in different ways until you see the commonality. That stuff is auxiliary--ignore that for now. Once you have the main idea down, that stuff is just a little bit of extra work."
Every class is different. One class will get an idea very quickly while another will struggle--so my job is to tweak things for that in lectures. In addition, sometimes a class will have a huge gap that you will have to back up and fill.
Even with STEM subjects, teaching has a lot of art to it.
However, if you can convince yourself that you do then by all means skip that lecture. You'll find out how accurate you were on the exam.