### 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 email_on_failure: Indicates whether email alerts should be sent when
        a task failed
    :param retries: the number of retries that should be performed before
        failing the task
    :param retry_delay: delay between retries, can be set as ``timedelta`` or
        ``float`` seconds, which will be converted into ``timedelta``,
        the default is ``timedelta(seconds=300)``.
    :param retry_exponential_backoff: allow progressively longer waits between
        retries by using exponential backoff algorithm on retry delay (delay
        will be converted into seconds)
    :param max_retry_delay: maximum delay interval between retries, can be set as
        ``timedelta`` or ``float`` seconds, which will be converted into ``timedelta``.
    :param start_date: The ``start_date`` for the task, determines
        the ``execution_date`` for the first task instance. The best practice
        is to have the start_date rounded
        to your DAG's ``schedule_interval``. Daily jobs have their start_date
        some day at 00:00:00, hourly jobs have their start_date at 00:00
        of a specific hour. Note that Airflow simply looks at the latest
        ``execution_date`` and adds the ``schedule_interval`` to determine
        the next ``execution_date``. It is also very important
        to note that different tasks' dependencies
        need to line up in time. If task A depends on task B and their
        start_date are offset in a way that their execution_date don't line
        up, A's dependencies will never be met. If you are looking to delay
        a task, for example running a daily task at 2AM, look into the
        ``TimeSensor`` and ``TimeDeltaSensor``. We advise against using
        dynamic ``start_date`` and recommend using fixed ones. Read the
        FAQ entry about start_date for more information.
    :param end_date: if specified, the scheduler won't go beyond this date
    :param depends_on_past: when set to true, task instances will run