### 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)

"""
            Add a formatted logger to the taskinstance so all logs are surfaced to the command line instead
            of into a task file. Since this is a local test run, it is much better for the user to see logs
            in the command line, rather than needing to search for a log file.
            Args:
                ti: The taskinstance that will receive a logger
            """
            format = logging.Formatter("[%(asctime)s] {%(filename)s:%(lineno)d} %(levelname)s - %(message)s")
            handler = logging.StreamHandler(sys.stdout)
            handler.level = logging.INFO
            handler.setFormatter(format)
            
            if not any(isinstance(h, logging.StreamHandler) for h in ti.log.handlers):
                self.log.debug("Adding Streamhandler to taskinstance %s", ti.task_id)
                ti.log.addHandler(handler)
        if conn_file_path or variable_file_path:
            local_secrets = LocalFilesystemBackend(
                variables_file_path=variable_file_path, connections_file_path=conn_file_path
            )
            secrets_backend_list.insert(0, local_secrets)
        execution_date = execution_date or timezone.utcnow()
        self.log.debug("Clearing existing task instances for execution date %s", execution_date)
        self.clear(