### 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)

for t in self.tasks:
            t.resolve_template_files()
    def get_template_env(self, *, force_sandboxed: bool = False) -> jinja2.Environment:
        """Build a Jinja2 environment."""
        
        searchpath = [self.folder]
        if self.template_searchpath:
            searchpath += self.template_searchpath
        
        jinja_env_options = {
            "loader": jinja2.FileSystemLoader(searchpath),
            "undefined": self.template_undefined,
            "extensions": ["jinja2.ext.do"],
            "cache_size": 0,
        }
        if self.jinja_environment_kwargs:
            jinja_env_options.update(self.jinja_environment_kwargs)
        env: jinja2.Environment
        if self.render_template_as_native_obj and not force_sandboxed:
            env = airflow.templates.NativeEnvironment(**jinja_env_options)
        else:
            env = airflow.templates.SandboxedEnvironment(**jinja_env_options)
        
        
        if self.user_defined_macros:
            env.globals.update(self.user_defined_macros)
        if self.user_defined_filters:
            env.filters.update(self.user_defined_filters)
        return env
    def set_dependency(self, upstream_task_id, downstream_task_id):