### 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)

with DAG(
                dag_id or f.__name__,
                description=description,
                schedule_interval=schedule_interval,
                timetable=timetable,
                start_date=start_date,
                end_date=end_date,
                full_filepath=full_filepath,
                template_searchpath=template_searchpath,
                template_undefined=template_undefined,
                user_defined_macros=user_defined_macros,
                user_defined_filters=user_defined_filters,
                default_args=default_args,
                concurrency=concurrency,
                max_active_tasks=max_active_tasks,
                max_active_runs=max_active_runs,
                dagrun_timeout=dagrun_timeout,
                sla_miss_callback=sla_miss_callback,
                default_view=default_view,
                orientation=orientation,
                catchup=catchup,
                on_success_callback=on_success_callback,
                on_failure_callback=on_failure_callback,
                doc_md=doc_md,
                params=params,
                access_control=access_control,
                is_paused_upon_creation=is_paused_upon_creation,
                jinja_environment_kwargs=jinja_environment_kwargs,
                render_template_as_native_obj=render_template_as_native_obj,
                tags=tags,