### 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)

task_id: str,
    dag: DAG | None = None,
    task_group: TaskGroup | None = None,
    start_date: datetime | None = None,
    end_date: datetime | None = None,
    owner: str = DEFAULT_OWNER,
    email: None | str | Iterable[str] = None,
    params: dict | None = None,
    resources: dict[str, Any] | None = None,
    trigger_rule: str = DEFAULT_TRIGGER_RULE,
    depends_on_past: bool = False,
    ignore_first_depends_on_past: bool = DEFAULT_IGNORE_FIRST_DEPENDS_ON_PAST,
    wait_for_past_depends_before_skipping: bool = DEFAULT_WAIT_FOR_PAST_DEPENDS_BEFORE_SKIPPING,
    wait_for_downstream: bool = False,
    retries: int | None = DEFAULT_RETRIES,
    queue: str = DEFAULT_QUEUE,
    pool: str | None = None,
    pool_slots: int = DEFAULT_POOL_SLOTS,
    execution_timeout: timedelta | None = DEFAULT_TASK_EXECUTION_TIMEOUT,
    max_retry_delay: None | timedelta | float = None,
    retry_delay: timedelta | float = DEFAULT_RETRY_DELAY,
    retry_exponential_backoff: bool = False,
    priority_weight: int = DEFAULT_PRIORITY_WEIGHT,
    weight_rule: str = DEFAULT_WEIGHT_RULE,
    sla: timedelta | None = None,
    max_active_tis_per_dag: int | None = None,
    on_execute_callback: None | TaskStateChangeCallback | list[TaskStateChangeCallback] = None,
    on_failure_callback: None | TaskStateChangeCallback | list[TaskStateChangeCallback] = None,
    on_success_callback: None | TaskStateChangeCallback | list[TaskStateChangeCallback] = None,
    on_retry_callback: None | TaskStateChangeCallback | list[TaskStateChangeCallback] = None,