voraussetzen
to require
To have something as a necessary condition or requirement for something else.
Diese Stelle setzt mehrjährige Berufserfahrung voraus.
This position requires several years of professional experience.

to require / assume
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to require
To have something as a necessary condition or requirement for something else.
Diese Stelle setzt mehrjährige Berufserfahrung voraus.
This position requires several years of professional experience.

'Voraussetzen' (to require / assume) is a separable verb. In main clauses, the prefix 'voraus' stands at the end. In subordinate clauses and in the infinitive with 'zu', the verb stays together.
Der Kurs setzt gute Englischkenntnisse voraus.
The course requires good English skills.
The word consists of 'voraus' (in advance) and 'setzen' (to set/put). The literal meaning is 'to set something in advance as a condition or as true'. This explains both main meanings: 'to require' and 'to assume'.
Für diese Wanderung setzen wir eine gute Kondition voraus.
For this hike, we require good physical fitness.
If the subject is a person ('Ich setze voraus...' — I assume...), it usually means 'to assume'. If the subject is a thing ('Der Job setzt voraus...' — The job requires...), it means 'to require'.
Ich setze einfach mal voraus, dass du einverstanden bist.
I'll simply assume that you agree.
In the meaning of 'to assume', 'voraussetzen' is very often used with a subordinate clause introduced by 'dass' (that). This subordinate clause describes the assumption.
Der Lehrer setzte voraus, dass alle Schüler das Buch gelesen hatten.
The teacher assumed that all the students had read the book.
to expect
'erwarten' and 'voraussetzen' can both express that you assume something. 'erwarten' is often directed toward the future or toward a person's behavior: you expect something or want a certain performance. 'voraussetzen' more often means that something is already taken as given or is necessary as a condition. It often sounds more factual and fits well with rules, courses, or requirements. The words are easy to confuse because both can contain an expectation. 'Ich erwarte, dass du pünktlich bist' (I expect you to be on time) sounds like a demand; 'Ich setze voraus, dass du pünktlich bist' (I assume you will be on time) sounds as if punctuality is taken for granted.

Der Kurs setzt gute Deutschkenntnisse voraus.
The course requires good German skills.
Die Lehrerin erwartet, dass alle die Hausaufgabe bis Freitag abgeben.
The teacher expects everyone to hand in the homework by Friday.