Should I withdraw from a college course?

I am currently a junior, have never withdrawed from a class, and have a 3.95 GPA. So I thought my study skills were pretty good. This semester though, I am taking only 12 credit hours, not a lot. My usual load is 16,17,18 credit hours.

I am getting A’s in 3 of my classes, but one of my classes is a complete mess. I cannot follow the professors teaching style AT ALL. I am spending 20+ hours studying for tests just to get borderline B-C’s. I am going home and teaching myself and struggling. The tutoring hours that are provided do not fit my schedule. So I am stuck. This class is making me stressed and giving me anxiety.

If I withdraw, I will still graduate on time, since I can fit the class in next semester. I truly believe if I had another professor I would do better. But I am worried that grad schools will view a W on the transcript as bad. Should I withdraw? Everyone I have asked makes me seem like I should tough it out, but I don’t want to keep studying 20+ hours and not get the grade I think I deserve for studying so much.