If you understand this stuff, you really need linear algebra for today's "deep learning", which perhaps is 18.03 (I can no longer remember).
18.06 is linear algebra. 18.03 is differential equations, which you don't really need for machine learning.
Is Gilbert Strang still teaching linear algebra at MIT? His intro materials to all things applied math are incredibly accessible.
Strang doesn't teach 18.06 every semester anyway.
https://hn.algolia.com/?query=machine%20learning%20math&sort...
One good way to go about it is to audit an online course [like Andrew Ng's] and figure out what gaps you need to fill in your knowledge to understand the material.
Once you feel comfortable with those, you'll be more than ready to tackle 6.867: https://ocw.mit.edu/courses/electrical-engineering-and-compu....
http://tutorial.math.lamar.edu/
Also: /r/learnmath
We're friendly!
If you're ambitious (or smarter than me) you could tackle both at the same time.
EDIT: By skip two years, what do you mean? Did you miss out on the typical pre-calc/college algebra/trig courses?
College Algebra/Trig: https://cnx.org/contents/E6wQevFf@6.35:nU8Qkzwo@4/Introducti...
Pre-calc: https://cnx.org/contents/_VPq4foj@6.57:vEOnJry_@2/Introducti...