Normally not, but there are OPC-UA to OPC-DA gateways which allow that.For direct OPC-DA access you can use something like this: https://github.com/seryal/OPCComponent
What should I do if such an error message appears when installing this component?
Contact author or open a github issue? I haven't used that coponent for a while, so maybe trying older Lazarus like 2.0.x might be worth trying.