chkconfig --levels 35 mysql
This will enable mysqld for run levels 3 and 5. Check the man page to see which will work. You may also need to use mysqld as the name instead. chkconfig is a wrapper around insserv so different distros may be slightly different. Newer distros may use systemd but still support starting services the old way.
Please stop trying to give "guest" users root access with sudo. The idea is inane and very dangerous.