### 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)

The default is ``True``, but subdags will ignore this value and always
        behave as if this is set to ``False`` for backward compatibility.
        Example: A DAG is scheduled to run every midnight (``0 0 * * *``). If
        ``earliest`` is ``2021-06-03 23:00:00``, the first DagRunInfo would be
        ``2021-06-03 23:00:00`` if ``align=False``, and ``2021-06-04 00:00:00``
        if ``align=True``.
        """
        if earliest is None:
            earliest = self._time_restriction.earliest
        if earliest is None:
            raise ValueError("earliest was None and we had no value in time_restriction to fallback on")
        earliest = timezone.coerce_datetime(earliest)
        latest = timezone.coerce_datetime(latest)
        restriction = TimeRestriction(earliest, latest, catchup=True)
        
        
        
        
        
        
        if self.is_subdag:
            align = False
        try:
            info = self.timetable.next_dagrun_info(
                last_automated_data_interval=None,
                restriction=restriction,
            )
        except Exception:
            self.log.exception(
                "Failed to fetch run info after data interval %s for DAG %r",