Hi @alistairp781078,
This will not gonna work on AEM 6.5.16 or other on premise version. And it's not related to the dependencies version in your pom.
Starting form 2.0.0 version of AEM Core Forms Components it is AEM as a Cloud Service oriented.
Please note that documentation you have mention is a AEM as a Cloud Service documentation. This version of AEM is using different type of AEM Forms add on, which is delivered as .far file. The missing dependencies are provided as part of aem-forms-addon-.far but it's not compatible with AEM 6.5.x
Below is link to specific section:
Browsing git history you can find that 1.1.12 was the last one that will work with AEM 6.5.X, here is the specific commit
So the solution for you, will be to use AEM Core Forms Components, version 1.1.12
You will need to build the crx package by you self. Simply download the code, unzip it and run mvn clean install. This will build the package you can install manually via crx package manager. Or use mvn clean install -PautoInstallPackage command to build and automatically install the package.
Here is the final result AEM Core Forms Components 1.1.12 bundles, up and running on AEM 6.5.16

In case you wanted to use 2.x.x AEM Core Forms Components you will have to move to AEM as a Cloud Service.