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Is there something mature along these lines for MySQL?

Why would you want that? Genuine question: why would you or anyone use MySQL for a new project?

I have an existing MySQL database that isn't going anywhere soon, and might want to utilize something like this with it.

Today pREST not accept MySQL, more pREST developer working adapter environment, check in https://github.com/nuveo/prest/tree/master/adapters

I recommend you open issue on pREST and recommend MySQL support