### 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)

self.template_searchpath = template_searchpath
        self.template_undefined = template_undefined
        self.last_loaded = timezone.utcnow()
        self.safe_dag_id = dag_id.replace(".", "__dot__")
        self.max_active_runs = max_active_runs
        self.dagrun_timeout = dagrun_timeout
        self.sla_miss_callback = sla_miss_callback
        if default_view in DEFAULT_VIEW_PRESETS:
            self._default_view: str = default_view
        elif default_view == "tree":
            warnings.warn(
                "`default_view` of 'tree' has been renamed to 'grid' -- please update your DAG",
                RemovedInAirflow3Warning,
                stacklevel=2,
            )
            self._default_view = "grid"
        else:
            raise AirflowException(
                f"Invalid values of dag.default_view: only support "
                f"{DEFAULT_VIEW_PRESETS}, but get {default_view}"
            )
        if orientation in ORIENTATION_PRESETS:
            self.orientation = orientation
        else:
            raise AirflowException(
                f"Invalid values of dag.orientation: only support "
                f"{ORIENTATION_PRESETS}, but get {orientation}"
            )
        self.catchup = catchup
        self.partial = False