### 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)

memo.setdefault(id(t.task_group), None)
            return copy.deepcopy(t, memo)
        dag.task_dict = {
            t.task_id: _deepcopy_task(t)
            for t in itertools.chain(matched_tasks, also_include, direct_upstreams)
        }
        def filter_task_group(group, parent_group):
            """Exclude tasks not included in the subdag from the given TaskGroup."""
            copied = copy.copy(group)
            copied.used_group_ids = set(copied.used_group_ids)
            copied._parent_group = parent_group
            copied.children = {}
            for child in group.children.values():
                if isinstance(child, AbstractOperator):
                    if child.task_id in dag.task_dict:
                        task = copied.children[child.task_id] = dag.task_dict[child.task_id]
                        task.task_group = weakref.proxy(copied)
                    else:
                        copied.used_group_ids.discard(child.task_id)
                else:
                    filtered_child = filter_task_group(child, copied)
                    
                    if filtered_child.children:
                        copied.children[child.group_id] = filtered_child
            return copied
        dag._task_group = filter_task_group(self._task_group, None)