### 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)

:param upstream: Include all upstream tasks of the given task_id
        :param downstream: Include all downstream tasks of the given task_id
        :param future: Include all future TaskInstances of the given task_id
        :param commit: Commit changes
        :param past: Include all past TaskInstances of the given task_id
        """
        from airflow.api.common.mark_tasks import set_state
        if not exactly_one(execution_date, run_id):
            raise ValueError("Exactly one of execution_date or run_id must be provided")
        task = self.get_task(task_id)
        task.dag = self
        tasks_to_set_state: list[Operator | tuple[Operator, int]]
        if map_indexes is None:
            tasks_to_set_state = [task]
        else:
            tasks_to_set_state = [(task, map_index) for map_index in map_indexes]
        altered = set_state(
            tasks=tasks_to_set_state,
            execution_date=execution_date,
            run_id=run_id,
            upstream=upstream,
            downstream=downstream,
            future=future,
            past=past,
            state=state,
            commit=commit,
            session=session,
        )
        if not commit:
            return altered