Is it plagiarism to submit the same work in a course after withdrawing from the course on a previous occasion?
Whether or not this is a problem probably depends more on the goal of the assignment for the purpose of this course rather than plagiarism as a general academic concept, because in both cases the work is your own sole work for a course assignment (the same course even), and is not owned by anyone else, published, etc.

The only thing you can do is to ask your instructor for guidance. Depending on their goals for the assignment, they may be okay with a re-submission of the previous work or they may want you to complete a new assignment; they may even want you to pick a new topic if the assignment allows for a broader interpretation.