### 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)

Iterable,
    Iterator,
    List,
    Sequence,
    Union,
    cast,
    overload,
)
from urllib.parse import urlsplit
import jinja2
import pendulum
from dateutil.relativedelta import relativedelta
from pendulum.tz.timezone import Timezone
from sqlalchemy import Boolean, Column, ForeignKey, Index, Integer, String, Text, and_, case, func, not_, or_
from sqlalchemy.ext.associationproxy import association_proxy
from sqlalchemy.orm import backref, joinedload, relationship
from sqlalchemy.orm.query import Query
from sqlalchemy.orm.session import Session
from sqlalchemy.sql import expression
import airflow.templates
from airflow import settings, utils
from airflow.api_internal.internal_api_call import internal_api_call
from airflow.compat.functools import cached_property
from airflow.configuration import conf, secrets_backend_list
from airflow.exceptions import (
    AirflowDagInconsistent,
    AirflowException,
    AirflowSkipException,
    DuplicateTaskIdFound,
    RemovedInAirflow3Warning,