### 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)

input_datasets: dict[Dataset, None] = {}
        
        
        
        
        for dag in dags:
            curr_orm_dag = existing_dags.get(dag.dag_id)
            if not dag.dataset_triggers:
                if curr_orm_dag and curr_orm_dag.schedule_dataset_references:
                    curr_orm_dag.schedule_dataset_references = []
            for dataset in dag.dataset_triggers:
                dag_references[dag.dag_id].add(dataset.uri)
                input_datasets[DatasetModel.from_public(dataset)] = None
            curr_outlet_references = curr_orm_dag and curr_orm_dag.task_outlet_dataset_references
            for task in dag.tasks:
                dataset_outlets = [x for x in task.outlets or [] if isinstance(x, Dataset)]
                if not dataset_outlets:
                    if curr_outlet_references:
                        this_task_outlet_refs = [
                            x
                            for x in curr_outlet_references
                            if x.dag_id == dag.dag_id and x.task_id == task.task_id
                        ]
                        for ref in this_task_outlet_refs:
                            curr_outlet_references.remove(ref)
                for d in dataset_outlets:
                    outlet_references[(task.dag_id, task.task_id)].add(d.uri)
                    outlet_datasets[DatasetModel.from_public(d)] = None
        all_datasets = outlet_datasets
        all_datasets.update(input_datasets)