1. Despite your claim that you are not versed in type theory, chapter 1 provides what I find, as a 21 year old graduate student in programming languages with a relatively standard undergraduate background in mathematics and then some, to be a clear and helpful explanation of Martin-Löf type theory, and a good exposition of background needed for chapter 2. Did you read it?
2. This book makes extremely clear that the "homotopy theory" that is developed towards the exposition of homotopy type theory is merely synthetic, which is to say that it considers homotopies as first class objects, rather than deriving them from their traditional topological underpinnings in a more analytic way. It might be useful to have a little understanding of point-set topology with maybe a little inkling of what's going on in algebraic topology to figure this out, but certainly it doesn't seem absolutely necessary, since the book's notion of homotopy is built from first principles. Are there specific points in chapter 2 that you find confusing?
3. It appears you have a doctorate in CS, specifically to do with interactive theorem proving. Almost every proof assistant I have come across either uses dependent types or higher-order logic, and it seems like in order to have earned a PhD in interactive theorem proving you might have had to have become familiar with at least one of these formalisms. Given that you should be comfortable in one of these domains, it doesn't seem like the material in the book is a huge leap. Could you speak a little bit more to what you worked on grad school?
I don't mean to come across as harsh, but your claim that this book excludes 99% of its target population seems false; at the very least I do not consider myself in the top 1% of people who might hope to consume this book.