### 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)

if kwargs:
            if not conf.getboolean("operators", "ALLOW_ILLEGAL_ARGUMENTS"):
                raise AirflowException(
                    f"Invalid arguments were passed to {self.__class__.__name__} (task_id: {task_id}). "
                    f"Invalid arguments were:\n**kwargs: {kwargs}",
                )
            warnings.warn(
                f"Invalid arguments were passed to {self.__class__.__name__} (task_id: {task_id}). "
                "Support for passing such arguments will be dropped in future. "
                f"Invalid arguments were:\n**kwargs: {kwargs}",
                category=RemovedInAirflow3Warning,
                stacklevel=3,
            )
        validate_key(task_id)
        dag = dag or DagContext.get_current_dag()
        task_group = task_group or TaskGroupContext.get_current_task_group(dag)
        self.task_id = task_group.child_id(task_id) if task_group else task_id
        if not self.__from_mapped and task_group:
            task_group.add(self)
        self.owner = owner
        self.email = email
        self.email_on_retry = email_on_retry
        self.email_on_failure = email_on_failure
        if execution_timeout is not None and not isinstance(execution_timeout, timedelta):
            raise ValueError(
                f"execution_timeout must be timedelta object but passed as type: {type(execution_timeout)}"
            )
        self.execution_timeout = execution_timeout
        self.on_execute_callback = on_execute_callback
        self.on_failure_callback = on_failure_callback