### 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.on_success_callback = on_success_callback
        self.on_retry_callback = on_retry_callback
        self._pre_execute_hook = pre_execute
        self._post_execute_hook = post_execute
        if start_date and not isinstance(start_date, datetime):
            self.log.warning("start_date for %s isn't datetime.datetime", self)
        elif start_date:
            self.start_date = timezone.convert_to_utc(start_date)
        if end_date:
            self.end_date = timezone.convert_to_utc(end_date)
        self.executor_config = executor_config or {}
        self.run_as_user = run_as_user
        self.retries = parse_retries(retries)
        self.queue = queue
        self.pool = Pool.DEFAULT_POOL_NAME if pool is None else pool
        self.pool_slots = pool_slots
        if self.pool_slots < 1:
            dag_str = f" in dag {dag.dag_id}" if dag else ""
            raise ValueError(f"pool slots for {self.task_id}{dag_str} cannot be less than 1")
        self.sla = sla
        if trigger_rule == "dummy":
            warnings.warn(
                "dummy Trigger Rule is deprecated. Please use `TriggerRule.ALWAYS`.",
                RemovedInAirflow3Warning,
                stacklevel=2,
            )
            trigger_rule = TriggerRule.ALWAYS
        if trigger_rule == "none_failed_or_skipped":
            warnings.warn(
                "none_failed_or_skipped Trigger Rule is deprecated. "