### 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)

dag_tags = set(dag.tags or {})
            orm_dag_tags = list(orm_dag.tags or [])
            for orm_tag in orm_dag_tags:
                if orm_tag.name not in dag_tags:
                    session.delete(orm_tag)
                    orm_dag.tags.remove(orm_tag)
            orm_tag_names = {t.name for t in orm_dag_tags}
            for dag_tag in dag_tags:
                if dag_tag not in orm_tag_names:
                    dag_tag_orm = DagTag(name=dag_tag, dag_id=dag.dag_id)
                    orm_dag.tags.append(dag_tag_orm)
                    session.add(dag_tag_orm)
            orm_dag_links = orm_dag.dag_owner_links or []
            for orm_dag_link in orm_dag_links:
                if orm_dag_link not in dag.owner_links:
                    session.delete(orm_dag_link)
            for owner_name, owner_link in dag.owner_links.items():
                dag_owner_orm = DagOwnerAttributes(dag_id=dag.dag_id, owner=owner_name, link=owner_link)
                session.add(dag_owner_orm)
        DagCode.bulk_sync_to_db(filelocs, session=session)
        from airflow.datasets import Dataset
        from airflow.models.dataset import (
            DagScheduleDatasetReference,
            DatasetModel,
            TaskOutletDatasetReference,
        )
        dag_references = collections.defaultdict(set)
        outlet_references = collections.defaultdict(set)
        
        outlet_datasets: dict[Dataset, None] = {}