How to resolve 'Failed to load driver class com.mysql.cj.jdbc.Driver' with HikariDataSource?

I am getting the below exception while running Spring Boot application from Eclipse.

Error creating bean with name 'dataSourceScriptDatabaseInitializer' defined in class path resource [org/springframework/boot/autoconfigure/sql/init/DataSourceInitializationConfiguration.class]: Unsatisfied dependency expressed through method 'dataSourceScriptDatabaseInitializer' parameter 0; nested exception is org.springframework.beans.factory.BeanCreationException: Error creating bean with name 'dataSource' defined in class path resource [org/springframework/boot/autoconfigure/jdbc/DataSourceConfiguration$Hikari.class]: Bean instantiation via factory method failed; nested exception is org.springframework.beans.BeanInstantiationException: Failed to instantiate [com.zaxxer.hikari.HikariDataSource]: Factory method 'dataSource' threw exception; nested exception is java.lang.RuntimeException: Failed to load driver class com.mysql.cj.jdbc.Driver in either of HikariConfig class loader or Thread context classloader

Spring Boot : 2.5.3 Java: 1.8

pom.xml:

 <parent>
    <groupId>org.springframework.boot</groupId>
    <artifactId>spring-boot-starter-parent</artifactId>
    <version>2.5.3</version>
    <relativePath/> 
</parent>
<groupId>spring-examples</groupId>
<artifactId>hplusapp</artifactId>
<version>0.0.1-SNAPSHOT</version>
<packaging>war</packaging>
<name>hplusapp</name>
<description>Demo project for Spring Boot</description>
<properties>
    <java.version>1.8</java.version>
</properties>
<dependencies>

    <dependency>
        <groupId>org.springframework.boot</groupId>
        <artifactId>spring-boot-starter-data-jpa</artifactId>
    </dependency>

    <dependency>
        <groupId>org.springframework.boot</groupId>
        <artifactId>spring-boot-starter-web</artifactId>
    </dependency>

    <dependency>
        <groupId>com.microsoft.sqlserver</groupId>
        <artifactId>mssql-jdbc</artifactId>
        <scope>runtime</scope>
    </dependency>
    <dependency>
        <groupId>org.springframework.boot</groupId>
        <artifactId>spring-boot-starter-tomcat</artifactId>
        <scope>provided</scope>
    </dependency>
    <dependency>
        <groupId>org.springframework.boot</groupId>
        <artifactId>spring-boot-starter-test</artifactId>
        <scope>test</scope>
    </dependency>
    <dependency>
        <groupId>javax.servlet</groupId>
        <artifactId>jstl</artifactId>
    </dependency>
    <dependency>
        <groupId>org.apache.tomcat.embed</groupId>
        <artifactId>tomcat-embed-jasper</artifactId>
        <scope>provided</scope>
    </dependency>
</dependencies>

<build>
    <plugins>
        <plugin>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-maven-plugin</artifactId>
        </plugin>
    </plugins>
</build>

application.properties

spring.jpa.hibernate.ddl-auto=update

spring.datasource.url=jdbc:mysql://localhost:3306/hplus

spring.datasource.username=root

spring.datasource.password=root

I have noticed if I remove the JPA dependency, I am not getting any error. But, I need JPA for further use cases. Can anyone guide me on this?