### 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)

subdag_task_groups = dag.task_group.get_task_group_dict()
        for group in subdag_task_groups.values():
            group.upstream_group_ids.intersection_update(subdag_task_groups)
            group.downstream_group_ids.intersection_update(subdag_task_groups)
            group.upstream_task_ids.intersection_update(dag.task_dict)
            group.downstream_task_ids.intersection_update(dag.task_dict)
        for t in dag.tasks:
            
            
            t.upstream_task_ids.intersection_update(dag.task_dict)
            t.downstream_task_ids.intersection_update(dag.task_dict)
        if len(dag.tasks) < len(self.tasks):
            dag.partial = True
        return dag
    def has_task(self, task_id: str):
        return task_id in self.task_dict
    def has_task_group(self, task_group_id: str) -> bool:
        return task_group_id in self.task_group_dict
    @cached_property
    def task_group_dict(self):
        return {k: v for k, v in self._task_group.get_task_group_dict().items() if k is not None}
    def get_task(self, task_id: str, include_subdags: bool = False) -> Operator:
        if task_id in self.task_dict:
            return self.task_dict[task_id]
        if include_subdags:
            for dag in self.subdags:
                if task_id in dag.task_dict:
                    return dag.task_dict[task_id]
        raise TaskNotFound(f"Task {task_id} not found")
    def pickle_info(self):