Here's a very compact solution using IGraph/M's IGVertexColoring function.
counties = EntityList@EntityClass["AdministrativeDivision", "USCountiesFlorida"];
borderingQ[c1_, c2_] := MemberQ[c1["BorderingCounties"], c2]
graph = RelationGraph[borderingQ, counties];
GeoGraphics@
MapThread[{GeoStyling[#2], Polygon[#1]} &, {counties, ColorData[97] /@ IGVertexColoring[graph]}]

?IGVertexColoring
IGVertexColoring[graph] returns a vertex colouring of graph.
Currently this function does not guarantee a minimum colouring, but it does well here. You can see the fifth colour (purple) around the quintipoint in the South East.