diff --git a/model_utils/managers.py b/model_utils/managers.py
index 10e9c34..c4631d2 100644
--- a/model_utils/managers.py
+++ b/model_utils/managers.py
@@ -1,20 +1,35 @@
 from __future__ import annotations
 
 import warnings
+from typing import TYPE_CHECKING, Any, Generic, Sequence, TypeVar, cast, overload
 
 from django.core.exceptions import ObjectDoesNotExist
 from django.db import connection, models
 from django.db.models.constants import LOOKUP_SEP
 from django.db.models.fields.related import OneToOneField, OneToOneRel
-from django.db.models.query import ModelIterable, QuerySet
 from django.db.models.sql.datastructures import Join
 
+ModelT = TypeVar('ModelT', bound=models.Model, covariant=True)
+
+if TYPE_CHECKING:
+    from collections.abc import Iterator
+
+    from django.db.models.query import BaseIterable
+    from django.db.models.query import ModelIterable as ModelIterableGeneric
+    from django.db.models.query import QuerySet as QuerySetGeneric
+
+    ModelIterable = ModelIterableGeneric[ModelT]
+    QuerySet = QuerySetGeneric[ModelT]
+else:
+    from django.db.models.query import ModelIterable, QuerySet
+
 
 class InheritanceIterable(ModelIterable):
-    def __iter__(self):
+    def __iter__(self) -> Iterator[ModelT]:
         queryset = self.queryset
-        iter = ModelIterable(queryset)
-        if getattr(queryset, 'subclasses', False):
+        iter: ModelIterableGeneric[ModelT] = ModelIterable(queryset)
+        if hasattr(queryset, 'subclasses'):
+            assert hasattr(queryset, '_get_sub_obj_recurse')
             extras = tuple(queryset.query.extra.keys())
             # sort the subclass names longest first,
             # so with 'a' and 'a__b' it goes as deep as possible
@@ -28,7 +43,7 @@ class InheritanceIterable(ModelIterable):
                 if not sub_obj:
                     sub_obj = obj
 
-                if getattr(queryset, '_annotated', False):
+                if hasattr(queryset, '_annotated'):
                     for k in queryset._annotated:
                         setattr(sub_obj, k, getattr(obj, k))
 
@@ -40,26 +55,31 @@ class InheritanceIterable(ModelIterable):
             yield from iter
 
 
-class InheritanceQuerySetMixin:
-    def __init__(self, *args, **kwargs):
-        super().__init__(*args, **kwargs)
-        self._iterable_class = InheritanceIterable
+class InheritanceQuerySetMixin(Generic[ModelT]):
 
-    def select_subclasses(self, *subclasses):
-        calculated_subclasses = self._get_subclasses_recurse(self.model)
+    model: type[ModelT]
+    subclasses: Sequence[str]
+
+    def __init__(self, *args: object, **kwargs: object):
+        super().__init__(*args, **kwargs)
+        self._iterable_class: type[BaseIterable[ModelT]] = InheritanceIterable
+
+    def select_subclasses(self, *subclasses: str | type[models.Model]) -> InheritanceQuerySet[ModelT]:
+        model: type[ModelT] = self.model
+        calculated_subclasses = self._get_subclasses_recurse(model)
         # if none were passed in, we can just short circuit and select all
         if not subclasses:
-            subclasses = calculated_subclasses
+            selected_subclasses = calculated_subclasses
         else:
-            verified_subclasses = []
+            verified_subclasses: list[str] = []
             for subclass in subclasses:
                 # special case for passing in the same model as the queryset
                 # is bound against. Rather than raise an error later, we know
                 # we can allow this through.
-                if subclass is self.model:
+                if subclass is model:
                     continue
 
-                if not isinstance(subclass, (str,)):
+                if not isinstance(subclass, str):
                     subclass = self._get_ancestors_path(subclass)
 
                 if subclass in calculated_subclasses:
@@ -69,38 +89,39 @@ class InheritanceQuerySetMixin:
                         '{!r} is not in the discovered subclasses, tried: {}'.format(
                             subclass, ', '.join(calculated_subclasses))
                     )
-            subclasses = verified_subclasses
+            selected_subclasses = verified_subclasses
 
-        if subclasses:
-            new_qs = self.select_related(*subclasses)
-        else:
-            new_qs = self
-        new_qs.subclasses = subclasses
+        new_qs = cast('InheritanceQuerySet[ModelT]', self)
+        if selected_subclasses:
+            new_qs = new_qs.select_related(*selected_subclasses)
+        new_qs.subclasses = selected_subclasses
         return new_qs
 
-    def _chain(self, **kwargs):
+    def _chain(self, **kwargs: object) -> InheritanceQuerySet[ModelT]:
         update = {}
         for name in ['subclasses', '_annotated']:
             if hasattr(self, name):
                 update[name] = getattr(self, name)
 
-        chained = super()._chain(**kwargs)
+        # django-stubs doesn't include this private API.
+        chained = super()._chain(**kwargs)  # type: ignore[misc]
         chained.__dict__.update(update)
         return chained
 
-    def _clone(self):
-        qs = super()._clone()
+    def _clone(self) -> InheritanceQuerySet[ModelT]:
+        # django-stubs doesn't include this private API.
+        qs = super()._clone()  # type: ignore[misc]
         for name in ['subclasses', '_annotated']:
             if hasattr(self, name):
                 setattr(qs, name, getattr(self, name))
         return qs
 
-    def annotate(self, *args, **kwargs):
-        qset = super().annotate(*args, **kwargs)
+    def annotate(self, *args: Any, **kwargs: Any) -> InheritanceQuerySet[ModelT]:
+        qset = cast(QuerySet[ModelT], super()).annotate(*args, **kwargs)
         qset._annotated = [a.default_alias for a in args] + list(kwargs.keys())
         return qset
 
-    def _get_subclasses_recurse(self, model):
+    def _get_subclasses_recurse(self, model: type[models.Model]) -> list[str]:
         """
         Given a Model class, find all related objects, exploring children
         recursively, returning a `list` of strings representing the
@@ -126,7 +147,7 @@ class InheritanceQuerySetMixin:
             subclasses.append(rel.get_accessor_name())
         return subclasses
 
-    def _get_ancestors_path(self, model):
+    def _get_ancestors_path(self, model: type[models.Model]) -> str:
         """
         Serves as an opposite to _get_subclasses_recurse, instead walking from
         the Model class up the Model's ancestry and constructing the desired
@@ -136,7 +157,7 @@ class InheritanceQuerySetMixin:
             raise ValueError(
                 f"{model!r} is not a subclass of {self.model!r}")
 
-        ancestry = []
+        ancestry: list[str] = []
         # should be a OneToOneField or None
         parent_link = model._meta.get_ancestor_link(self.model)
 
@@ -149,7 +170,7 @@ class InheritanceQuerySetMixin:
 
         return LOOKUP_SEP.join(ancestry)
 
-    def _get_sub_obj_recurse(self, obj, s):
+    def _get_sub_obj_recurse(self, obj: models.Model, s: str) -> ModelT | None:
         rel, _, s = s.partition(LOOKUP_SEP)
 
         try:
@@ -162,12 +183,14 @@ class InheritanceQuerySetMixin:
         else:
             return node
 
-    def get_subclass(self, *args, **kwargs):
+    def get_subclass(self, *args: object, **kwargs: object) -> ModelT:
         return self.select_subclasses().get(*args, **kwargs)
 
 
-class InheritanceQuerySet(InheritanceQuerySetMixin, QuerySet):
-    def instance_of(self, *models):
+# Defining the 'model' attribute using a generic type triggers a bug in mypy:
+# https://github.com/python/mypy/issues/9031
+class InheritanceQuerySet(InheritanceQuerySetMixin[ModelT], QuerySet[ModelT]):  # type: ignore[misc]
+    def instance_of(self, *models: type[ModelT]) -> InheritanceQuerySet[ModelT]:
         """
         Fetch only objects that are instances of the provided model(s).
         """
@@ -190,88 +213,118 @@ class InheritanceQuerySet(InheritanceQuerySetMixin, QuerySet):
                 ) for field in model._meta.parents.values()
             ]) + ')')
 
-        return self.select_subclasses(*models).extra(where=[' OR '.join(where_queries)])
+        return cast(
+            'InheritanceQuerySet[ModelT]',
+            self.select_subclasses(*models).extra(where=[' OR '.join(where_queries)])
+        )
 
 
-class InheritanceManagerMixin:
+class InheritanceManagerMixin(Generic[ModelT]):
     _queryset_class = InheritanceQuerySet
 
-    def get_queryset(self):
-        return self._queryset_class(self.model)
+    if TYPE_CHECKING:
+        def filter(self, *args: Any, **kwargs: Any) -> InheritanceQuerySet[ModelT]:
+            ...
 
-    def select_subclasses(self, *subclasses):
+    def get_queryset(self) -> InheritanceQuerySet[ModelT]:
+        model: type[ModelT] = self.model  # type: ignore[attr-defined]
+        return self._queryset_class(model)
+
+    def select_subclasses(
+        self, *subclasses: str | type[models.Model]
+    ) -> InheritanceQuerySet[ModelT]:
         return self.get_queryset().select_subclasses(*subclasses)
 
-    def get_subclass(self, *args, **kwargs):
+    def get_subclass(self, *args: object, **kwargs: object) -> ModelT:
         return self.get_queryset().get_subclass(*args, **kwargs)
 
-    def instance_of(self, *models):
+    def instance_of(self, *models: type[ModelT]) -> InheritanceQuerySet[ModelT]:
         return self.get_queryset().instance_of(*models)
 
 
-class InheritanceManager(InheritanceManagerMixin, models.Manager):
+class InheritanceManager(InheritanceManagerMixin[ModelT], models.Manager[ModelT]):
     pass
 
 
-class QueryManagerMixin:
+class QueryManagerMixin(Generic[ModelT]):
 
-    def __init__(self, *args, **kwargs):
+    @overload
+    def __init__(self, *args: models.Q):
+        ...
+
+    @overload
+    def __init__(self, **kwargs: object):
+        ...
+
+    def __init__(self, *args: models.Q, **kwargs: object):
         if args:
             self._q = args[0]
         else:
             self._q = models.Q(**kwargs)
-        self._order_by = None
+        self._order_by: tuple[Any, ...] | None = None
         super().__init__()
 
-    def order_by(self, *args):
+    def order_by(self, *args: Any) -> QueryManager[ModelT]:
         self._order_by = args
-        return self
+        return cast('QueryManager[ModelT]', self)
 
-    def get_queryset(self):
-        qs = super().get_queryset().filter(self._q)
+    def get_queryset(self) -> QuerySet[ModelT]:
+        qs = super().get_queryset()  # type: ignore[misc]
+        qs = qs.filter(self._q)
         if self._order_by is not None:
             return qs.order_by(*self._order_by)
         return qs
 
 
-class QueryManager(QueryManagerMixin, models.Manager):
+class QueryManager(QueryManagerMixin[ModelT], models.Manager[ModelT]):  # type: ignore[misc]
     pass
 
 
-class SoftDeletableQuerySetMixin:
+class SoftDeletableQuerySetMixin(Generic[ModelT]):
     """
     QuerySet for SoftDeletableModel. Instead of removing instance sets
     its ``is_removed`` field to True.
     """
 
-    def delete(self):
+    def delete(self) -> None:
         """
         Soft delete objects from queryset (set their ``is_removed``
         field to True)
         """
-        self.update(is_removed=True)
+        cast(QuerySet[ModelT], self).update(is_removed=True)
 
 
-class SoftDeletableQuerySet(SoftDeletableQuerySetMixin, QuerySet):
+# Note that our delete() method does not return anything, unlike Django's.
+# https://github.com/jazzband/django-model-utils/issues/541
+class SoftDeletableQuerySet(SoftDeletableQuerySetMixin[ModelT], QuerySet[ModelT]):  # type: ignore[misc]
     pass
 
 
-class SoftDeletableManagerMixin:
+class SoftDeletableManagerMixin(Generic[ModelT]):
     """
     Manager that limits the queryset by default to show only not removed
     instances of model.
     """
     _queryset_class = SoftDeletableQuerySet
 
-    def __init__(self, *args, _emit_deprecation_warnings=False, **kwargs):
+    _db: str | None
+
+    def __init__(
+        self,
+        *args: object,
+        _emit_deprecation_warnings: bool = False,
+        **kwargs: object
+    ):
         self.emit_deprecation_warnings = _emit_deprecation_warnings
         super().__init__(*args, **kwargs)
 
-    def get_queryset(self):
+    def get_queryset(self) -> SoftDeletableQuerySet[ModelT]:
         """
         Return queryset limited to not removed entries.
         """
 
+        model: type[ModelT] = self.model  # type: ignore[attr-defined]
+
         if self.emit_deprecation_warnings:
             warning_message = (
                 "{0}.objects model manager will include soft-deleted objects in an "
@@ -279,23 +332,23 @@ class SoftDeletableManagerMixin:
                 "excluding soft-deleted objects. See "
                 "https://django-model-utils.readthedocs.io/en/stable/models.html"
                 "#softdeletablemodel for more information."
-            ).format(self.model.__class__.__name__)
+            ).format(model.__class__.__name__)
             warnings.warn(warning_message, DeprecationWarning)
 
-        kwargs = {'model': self.model, 'using': self._db}
-        if hasattr(self, '_hints'):
-            kwargs['hints'] = self._hints
-
-        return self._queryset_class(**kwargs).filter(is_removed=False)
+        return self._queryset_class(
+            model=model,
+            using=self._db,
+            **({'hints': self._hints} if hasattr(self, '_hints') else {})
+        ).filter(is_removed=False)
 
 
-class SoftDeletableManager(SoftDeletableManagerMixin, models.Manager):
+class SoftDeletableManager(SoftDeletableManagerMixin[ModelT], models.Manager[ModelT]):
     pass
 
 
-class JoinQueryset(models.QuerySet):
+class JoinQueryset(models.QuerySet[Any]):
 
-    def join(self, qs=None):
+    def join(self, qs: QuerySet[Any] | None = None) -> QuerySet[Any]:
         '''
         Join one queryset together with another using a temporary table. If
         no queryset is used, it will use the current queryset and join that
@@ -310,11 +363,11 @@ class JoinQueryset(models.QuerySet):
         to_field = 'id'
 
         if qs:
-            fk = [
+            fks = [
                 fk for fk in qs.model._meta.fields
                 if getattr(fk, 'related_model', None) == self.model
             ]
-            fk = fk[0] if fk else None
+            fk = fks[0] if fks else None
             model_set = f'{self.model.__name__.lower()}_set'
             key = fk or getattr(qs.model, model_set, None)
 
@@ -371,21 +424,24 @@ class JoinQueryset(models.QuerySet):
         return new_qs
 
 
-class JoinManagerMixin:
-    """
-    Manager that adds a method join. This method allows you to join two
-    querysets together.
-    """
-    _queryset_class = JoinQueryset
+if not TYPE_CHECKING:
+    # Hide deprecated API during type checking, to encourage switch to
+    # 'JoinQueryset.as_manager()', which is supported by the mypy plugin
+    # of django-stubs.
 
-    def get_queryset(self):
-        warnings.warn(
-            "JoinManager and JoinManagerMixin are deprecated. "
-            "Please use 'JoinQueryset.as_manager()' instead.",
-            DeprecationWarning
-        )
-        return self._queryset_class(model=self.model, using=self._db)
+    class JoinManagerMixin:
+        """
+        Manager that adds a method join. This method allows you to join two
+        querysets together.
+        """
 
+        def get_queryset(self):
+            warnings.warn(
+                "JoinManager and JoinManagerMixin are deprecated. "
+                "Please use 'JoinQueryset.as_manager()' instead.",
+                DeprecationWarning
+            )
+            return self._queryset_class(model=self.model, using=self._db)
 
-class JoinManager(JoinManagerMixin, models.Manager):
-    pass
+    class JoinManager(JoinManagerMixin):
+        pass