If you have not solved your problem yet, I have applications developed using Lazarus 1.0.2, FPC 2.6.0, and ZeosLib 7.0 that access a remote MySQL 5.5 database without problems.
Also installed MySQL 5.x on Linux (Fedora 17, Linux Mint 13, Centos 5.8, Centos 6.2) and Windows 7 without problems.
What kind of dependency error are you getting when installing MySQL?
Regards