### 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)

RemovedInAirflow3Warning,
                stacklevel=2,
            )
        validate_key(dag_id)
        self._dag_id = dag_id
        if concurrency:
            
            warnings.warn(
                "The 'concurrency' parameter is deprecated. Please use 'max_active_tasks'.",
                RemovedInAirflow3Warning,
                stacklevel=2,
            )
            max_active_tasks = concurrency
        self._max_active_tasks = max_active_tasks
        self._pickle_id: int | None = None
        self._description = description
        
        back = sys._getframe().f_back
        self.fileloc = back.f_code.co_filename if back else ""
        self.task_dict: dict[str, Operator] = {}
        
        tz = None
        if start_date and start_date.tzinfo:
            tzinfo = None if start_date.tzinfo else settings.TIMEZONE
            tz = pendulum.instance(start_date, tz=tzinfo).timezone
        elif "start_date" in self.default_args and self.default_args["start_date"]:
            date = self.default_args["start_date"]
            if not isinstance(date, datetime):
                date = timezone.parse(date)
                self.default_args["start_date"] = date