### 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)

If a single task_id string is provided, the result is the value of the
        most recent matching XCom from that task_id. If multiple task_ids are
        provided, a tuple of matching values is returned. None is returned
        whenever no matches are found.
        :param context: Execution Context Dictionary
        :param key: A key for the XCom. If provided, only XComs with matching
            keys will be returned. The default key is 'return_value', also
            available as a constant XCOM_RETURN_KEY. This key is automatically
            given to XComs returned by tasks (as opposed to being pushed
            manually). To remove the filter, pass key=None.
        :param task_ids: Only XComs from tasks with matching ids will be
            pulled. Can pass None to remove the filter.
        :param dag_id: If provided, only pulls XComs from this DAG.
            If None (default), the DAG of the calling task is used.
        :param include_prior_dates: If False, only XComs from the current
            execution_date are returned. If True, XComs from previous dates
            are returned as well.
        """
        return context["ti"].xcom_pull(
            key=key, task_ids=task_ids, dag_id=dag_id, include_prior_dates=include_prior_dates
        )
    @classmethod
    def get_serialized_fields(cls):
        """Stringified DAGs and operators contain exactly these fields."""
        if not cls.__serialized_fields:
            from airflow.models.dag import DagContext