### 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)

start_date = date
            tzinfo = None if date.tzinfo else settings.TIMEZONE
            tz = pendulum.instance(date, tz=tzinfo).timezone
        self.timezone = tz or settings.TIMEZONE
        
        if "end_date" in self.default_args and self.default_args["end_date"]:
            if isinstance(self.default_args["end_date"], str):
                self.default_args["end_date"] = timezone.parse(
                    self.default_args["end_date"], timezone=self.timezone
                )
        self.start_date = timezone.convert_to_utc(start_date)
        self.end_date = timezone.convert_to_utc(end_date)
        
        if "start_date" in self.default_args:
            self.default_args["start_date"] = timezone.convert_to_utc(self.default_args["start_date"])
        if "end_date" in self.default_args:
            self.default_args["end_date"] = timezone.convert_to_utc(self.default_args["end_date"])
        
        scheduling_args = [schedule_interval, timetable, schedule]
        if not at_most_one(*scheduling_args):
            raise ValueError("At most one allowed for args 'schedule_interval', 'timetable', and 'schedule'.")
        if schedule_interval is not NOTSET:
            warnings.warn(
                "Param `schedule_interval` is deprecated and will be removed in a future release. "
                "Please use `schedule` instead. ",
                RemovedInAirflow3Warning,
                stacklevel=2,
            )
        if timetable is not None:
            warnings.warn(