### 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)

ignore_first_depends_on_past=True,
        pool=None,
        delay_on_limit_secs=1.0,
        verbose=False,
        conf=None,
        rerun_failed_tasks=False,
        run_backwards=False,
        run_at_least_once=False,
        continue_on_failures=False,
        disable_retry=False,
    ):
        """
        Runs the DAG.
        :param start_date: the start date of the range to run
        :param end_date: the end date of the range to run
        :param mark_success: True to mark jobs as succeeded without running them
        :param local: True to run the tasks using the LocalExecutor
        :param executor: The executor instance to run the tasks
        :param donot_pickle: True to avoid pickling DAG object and send to workers
        :param ignore_task_deps: True to skip upstream tasks
        :param ignore_first_depends_on_past: True to ignore depends_on_past
            dependencies for the first set of tasks only
        :param pool: Resource pool to use
        :param delay_on_limit_secs: Time in seconds to wait before next attempt to run
            dag run when max_active_runs limit has been reached
        :param verbose: Make logging output more verbose
        :param conf: user defined dictionary passed from CLI
        :param rerun_failed_tasks:
        :param run_backwards:
        :param run_at_least_once: If true, always run the DAG at least once even