### 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)

data_interval = None
        if isinstance(last_automated_dagrun, datetime):
            warnings.warn(
                "Passing a datetime to DAG.next_dagrun_info is deprecated. Use a DataInterval instead.",
                RemovedInAirflow3Warning,
                stacklevel=2,
            )
            data_interval = self.infer_automated_data_interval(
                timezone.coerce_datetime(last_automated_dagrun)
            )
        else:
            data_interval = last_automated_dagrun
        if restricted:
            restriction = self._time_restriction
        else:
            restriction = TimeRestriction(earliest=None, latest=None, catchup=True)
        try:
            info = self.timetable.next_dagrun_info(
                last_automated_data_interval=data_interval,
                restriction=restriction,
            )
        except Exception:
            self.log.exception(
                "Failed to fetch run info after data interval %s for DAG %r",
                data_interval,
                self.dag_id,
            )
            info = None
        return info
    def next_dagrun_after_date(self, date_last_automated_dagrun: pendulum.DateTime | None):