### 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 visited_external_tis is None:
                visited_external_tis = set()
            for ti in query.filter(TI.operator == ExternalTaskMarker.__name__):
                ti_key = ti.key.primary
                if ti_key in visited_external_tis:
                    continue
                visited_external_tis.add(ti_key)
                task: ExternalTaskMarker = cast(ExternalTaskMarker, copy.copy(self.get_task(ti.task_id)))
                ti.task = task
                if max_recursion_depth is None:
                    
                    
                    max_recursion_depth = task.recursion_depth
                if recursion_depth + 1 > max_recursion_depth:
                    
                    raise AirflowException(
                        f"Maximum recursion depth {max_recursion_depth} reached for "
                        f"{ExternalTaskMarker.__name__} {ti.task_id}. "
                        f"Attempted to clear too many tasks or there may be a cyclic dependency."
                    )
                ti.render_templates()
                external_tis = (
                    session.query(TI)
                    .join(TI.dag_run)
                    .filter(
                        TI.dag_id == task.external_dag_id,
                        TI.task_id == task.external_task_id,
                        DagRun.execution_date == pendulum.parse(task.execution_date),
                    )
                )