### 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)

elif not task.start_date:
            task.start_date = self.start_date
        
        
        elif self.start_date:
            task.start_date = max(task.start_date, self.start_date)
        
        if not task.end_date:
            task.end_date = self.end_date
        
        
        elif task.end_date and self.end_date:
            task.end_date = min(task.end_date, self.end_date)
        task_id = task.task_id
        if not task.task_group:
            task_group = TaskGroupContext.get_current_task_group(self)
            if task_group:
                task_id = task_group.child_id(task_id)
                task_group.add(task)
        if (
            task_id in self.task_dict and self.task_dict[task_id] is not task
        ) or task_id in self._task_group.used_group_ids:
            raise DuplicateTaskIdFound(f"Task id '{task_id}' has already been added to the DAG")
        else:
            self.task_dict[task_id] = task
            task.dag = self
            
            self._task_group.used_group_ids.add(task_id)
        self.task_count = len(self.task_dict)
    def add_tasks(self, tasks: Iterable[Operator]) -> None: