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Use numpy.typing.NDArray instead of np.ndarray #4512

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I noticed that pybamm uses np.ndarray everywhere, but we should use numpy.typing.NDArray wherever possible (everywhere). Ideally they should be swappable without any errors. Feel free to close this issue if there was a reason to specifically use np.ndarray.

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difficulty: easyA good issue for someone new. Can be done in a few hourspriority: lowNo existing plans to resolve

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