better orm typing

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1. Is this request related to a challenge you're experiencing? Tell me about your story.

continue of #22626

now all the orm has Any as typing, but require more work to let typing work.

split into mutliple issues, since each step may cause other typing bugs.

2. Additional context or comments

now we are here: https://docs.sqlalchemy.org/en/20/changelog/whatsnew_20.html#step-three-apply-exact-python-types-as-needed-using-orm-mapped

example: #23322

3. Can you help us with this feature?

• I am interested in contributing to this feature.