Assuming the relative path to the libs are the same for all your project, you can go to project options -> paths, fill in the correct paths, then check the checkbox "Use these compiler options as default for newprojects" and save.
Now all your new projects have the correct paths.
All my Lazarus projects reside in a subfolder of /path/to/lazdev/, so this works perfectly for me on all my 2 Windows and 1 Linux setup.
If the relative paths for new projects isn't the same, you can include the paths as absolute paths.
The disadvantage is that when compiling the project on a different machine or OS, the absolute paths are probably wrong and need correcting.
Bart