### Apache Airflow version

2.5.1

### What happened

Context: I am attempting to use [TypedDict](https://docs.python.org/3/library/typing.html#typing.TypedDict) objects to maintain the keys used in DAG params in a single place, and check for key names across multiple DAGs that use the params.
This raises an error with `mypy` as `params` expects an `Optional[Dict]`. Due to the invariance of `Dict`, this does not accept `TypedDict` objects.

What happened: I passed a `TypedDict` to the `params` arg of `DAG` and got a TypeError.

### What you think should happen instead

`TypedDict` objects should be accepted by `DAG`, which should accept `Optional[Mapping[str, Any]]`. 

Unless I'm mistaken, `params` are converted to a `ParamsDict` class and therefore the appropriate type hint is a generic `Mapping` type.

### How to reproduce

Steps to reproduce

```Python
from typing import TypedDict

from airflow import DAG
from airflow.models import Param

class ParamsTypedDict(TypedDict):
    str_param: Param

params: ParamsTypedDict = {
    "str_param": Param("", type="str")
}

with DAG(
    dag_id="mypy-error-dag",
    # The line below raises a mypy error
    # Argument "params" to "DAG" has incompatible type "ParamsTypedDict"; expected "Optional[Dict[Any, Any]]"  [arg-type]
    params=params,  
) as dag:
    pass
```

### Operating System

Amazon Linux

### Versions of Apache Airflow Providers

_No response_

### Deployment

Docker-Compose

### Deployment details

_No response_

### Anything else

_No response_

### Are you willing to submit PR?

- [X] Yes I am willing to submit a PR!

### Code of Conduct

- [X] I agree to follow this project's [Code of Conduct](https://github.com/apache/airflow/blob/main/CODE_OF_CONDUCT.md)

:param on_failure_callback: a function or list of functions to be called when a task instance
        of this task fails. a context dictionary is passed as a single
        parameter to this function. Context contains references to related
        objects to the task instance and is documented under the macros
        section of the API.
    :param on_execute_callback: much like the ``on_failure_callback`` except
        that it is executed right before the task is executed.
    :param on_retry_callback: much like the ``on_failure_callback`` except
        that it is executed when retries occur.
    :param on_success_callback: much like the ``on_failure_callback`` except
        that it is executed when the task succeeds.
    :param pre_execute: a function to be called immediately before task
        execution, receiving a context dictionary; raising an exception will
        prevent the task from being executed.
        |experimental|
    :param post_execute: a function to be called immediately after task
        execution, receiving a context dictionary and task result; raising an
        exception will prevent the task from succeeding.
        |experimental|
    :param trigger_rule: defines the rule by which dependencies are applied
        for the task to get triggered. Options are:
        ``{ all_success | all_failed | all_done | all_skipped | one_success | one_done |
        one_failed | none_failed | none_failed_min_one_success | none_skipped | always}``
        default is ``all_success``. Options can be set as string or
        using the constants defined in the static class
        ``airflow.utils.TriggerRule``
    :param resources: A map of resource parameter names (the argument names of the
        Resources constructor) to their values.
    :param run_as_user: unix username to impersonate while running the task
    :param max_active_tis_per_dag: When set, a task will be able to limit the concurrent