if you know calculus and linear algebra, you can start learning differential at
Lecture Note on Curves and Surfaces, 2005, Chuu-Lian Terng
xahlee.info/math/differential_

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another good book for differential , physics oriented, and for programers, is
Functional Geometry, 2013, Sussman, Wisdom, Farr
xahlee.info/math/functional_ge
if you want to understand relativity in tech detail, start here.

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