That is true, unfortunately, in much of the mathematical literature. Way too often authors use the formalized language where the plain language would suffice. This kind of abuse is extremely widespread. It is one thing when a formula is used to represent, say, a complicated integral; it is another when a formula is used to express something just as easily said in a couple of words.
mathematical knowledge is like scaffolding. a reader has to gradually build up and buttress the lower layers before attempting to move up. skipping steps does no one any favours.
I'm in a somewhat similar position to OP, it's extremely rare that I'd find a whole paper accessible, the best way I know is just to get gradually more specific, from a broad undergraduate textbook on 'logic' or whatever other similarly broad area, and hone in on the more specific area of interest. Notation will be introduced, and by the time the last 5% is, 80% will be second nature, and the remaining 15% will be familiar and 'let's see.. I think it was used in this book..'
Many papers, especially im engineering, use a lot of mathematical notation that doesn’t benefit the reader, it’s just there to show off. Often, there are mistakes in there too, because no reviewer typically goes to the trouble of checking every single equation. When reading a paper, don’t get bogged down by all the equations. Read it once or a few times before getting down to that level. Often it’s helpful to read other descriptions of a particular algorithm, for example in a student’s thesis, which contain more detail and contextualize some of the math.
While you may not find this comment particularly helpful, as I’m not pointing to a guide or something, you could take away from it that it takes practice and that one shouldn’t be discouraged when you don’t understand the math in a paper, as I guarantee you there are maths professors that couldn’t make sense of it either.